Annual report pursuant to Section 13 and 15(d)

Revenue, Contract Assets and Liabilities and Other Contract Matters - Schedules of Concentration of Risk, by Risk Factor (Parenthetical) (Details)

v3.24.0.1
Revenue, Contract Assets and Liabilities and Other Contract Matters - Schedules of Concentration of Risk, by Risk Factor (Parenthetical) (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Disaggregation of Revenue [Line Items]      
Litigation Settlement, Expense $ 32.5    
MPSV Litigation      
Disaggregation of Revenue [Line Items]      
Litigation Settlement, Expense   $ 32.5  
Sales Revenue, Net | Customer Concentration Risk | Customer C      
Disaggregation of Revenue [Line Items]      
Concentration risk, percentage   10.00%  
Sales Revenue, Net | Customer Concentration Risk | Customer D      
Disaggregation of Revenue [Line Items]      
Concentration risk, percentage   10.00%  
Sales Revenue, Net | Customer Concentration Risk | Maximum      
Disaggregation of Revenue [Line Items]      
Concentration risk, percentage     10.00%