v3.23.2
Revenue Recognition - Remaining Performance Obligations (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Performance obligation $ 1.2   $ 1.2  
Revenue recognized excluding deferred amounts $ 0.4 $ 0.2 $ 1.1 $ 0.5
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Performance obligation, percentage 61.70%   61.70%  
Timing of satisfaction of remaining performance obligation 6 months   6 months  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Performance obligation, percentage 31.20%   31.20%  
Timing of satisfaction of remaining performance obligation 1 year   1 year  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Performance obligation, percentage 7.10%   7.10%  
Timing of satisfaction of remaining performance obligation 1 year   1 year