Annual report pursuant to Section 13 and 15(d)

Revenue - Narrative (Details)

v3.24.0.1
Revenue - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]      
Deferred revenue recognized $ 34.1 $ 29.5 $ 22.9