Revenue from Contracts with Customers - Performance Obligations (Details) $ in Billions	Dec. 31, 2023 USD ($)
Disaggregation of Revenue [Line Items]
Remaining performance obligations	$ 14.2
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Disaggregation of Revenue [Line Items]
Remaining performance obligations	$ 2.8
Expected timing of satisfaction	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Disaggregation of Revenue [Line Items]
Remaining performance obligations	$ 2.4
Expected timing of satisfaction	1 year