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Revenue - Performance obligations - 2021 (Details) - Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-04-01
3 Months Ended
Mar. 31, 2022
Revenue expected timing  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction 12 months
Percentage of remaining performance obligation expected to be recognized in period 64.10%