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Revenue Recognition - Narrative (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Contract liability revenue recognized $ 1,600,000   $ 17,100,000  
Impairment losses on contract assets   $ 0   $ 0
Transaction price allocated to uncompleted contracts $ 120,100,000   $ 120,100,000  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Expected timing of satisfaction, period 18 months   18 months