Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 48.1		$ 48.1		$ 58.7
Contract with customer, revenue recognized	$ 1.2	$ 1.3	$ 43.6	$ 48.1