Revenue - Narrative (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Other current liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue other current liabilities	$ 6.7	$ 6.6
Other liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue other liabilities	$ 2.2	$ 2.7
Short-Term Contract with Customer
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	12 months
Long-Term Contract with Customer
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	60 months