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Revenue - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disclosure Of Performance Obligations [Line Items]      
Deferred contract revenue brought forward $ 3.4 $ 4.0  
Deferred contract revenue recognized 3.4 4.0  
Workflow equipment and services      
Disclosure Of Performance Obligations [Line Items]      
Revenues from payments from leased equipment recognized $ 0.1 $ 0.1 $ 0.2
Maximum      
Disclosure Of Performance Obligations [Line Items]      
Term of payment agreements for products and services sold 180 days