Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Revenue from Contract with Customer [Abstract] | |||
| Revenue recognized from performance obligation satisfied in previous periods | $ 3.1 | $ 0.1 | $ 4.3 |
| Revenue recognized that was included in contract liability at beginning of period | $ 12.3 | $ 11.9 | $ 15.4 |