Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Other current liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, current	$ 7.1	$ 7.9
Other liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, noncurrent	$ 3.8	$ 2.4
Minimum
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	12 months
Maximum
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	60 months