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Revenue - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Maximum Percentage Of Revenue For Which Individual Customer Accounts For | 7.30% | 8.40% | 9.80%
Service and Repair Revenue, Percentage of Total | 4.00% | 4.00% | 3.00%
Net Contract Liability, Change from Prior Year | $ (25.9) |  |
Contract with Customer, Liability, Revenue Recognized | 49.2 |  |
Revenue, Remaining Performance Obligation, Amount | 1,246.5 |  |
Capitalized Contract Cost, Net | 3.8 | $ 4.5 |
Capitalized Contract Cost, Amortization | 0.7 | $ 1.0 |
Minimum [Member] |  |  |
Revenue, Remaining Performance Obligation, Amount | 1,030.0 |  |
Maximum [Member] |  |  |
Revenue, Remaining Performance Obligation, Amount | $ 1,050.0 |  |

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- Definition Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 + Details
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