Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($) $ in Millions |
3 Months Ended | |
|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
|
| Revenue from Contract with Customer [Abstract] | ||
| Revenue recognized from performance obligations satisfied In previous periods | $ 1.1 | $ 0.8 |
| Revenue recognized that was previously included in contract liability | $ 2.6 | $ 4.6 |