Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($) $ in Millions |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2024 |
Sep. 30, 2023 |
Sep. 30, 2024 |
Sep. 30, 2023 |
|
| Revenue from Contract with Customer [Abstract] | ||||
| Revenue recognized from performance obligations satisfied In previous periods | $ 0.3 | $ 1.1 | $ 1.5 | $ 2.5 |
| Revenue recognized that was previously included in contract liability | $ 3.4 | $ 4.4 | $ 8.8 | $ 12.5 |