Revenue Recognition - Additional information (Details) $ in Millions	6 Months Ended
	Jun. 30, 2023 USD ($)
Disaggregation of Revenue [Line Items]
Remaining performance obligations	$ 2,540
Minimum
Disaggregation of Revenue [Line Items]
Term of master service agreements	1 year
Short termination notice of master service agreements	30 days
Maximum
Disaggregation of Revenue [Line Items]
Term of master service agreements	3 years
Short termination notice of master service agreements	90 days