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Revenues (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |  |  |  |
Performance obligations satisfied or partially satisfied in previous periods | $ 11.6 | $ 17.9 | $ 13.1 | $ 16.7 |
Contract asset | 1.5 |  | 1.5 |  | $ 3.8
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01 |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Unfulfilled performance obligations |  |  |  |  | $ 3.7
Performance obligation expected duration |  |  |  |  | 24 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-07-01 |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Unfulfilled performance obligations | $ 3.4 |  | $ 3.4 |  |
Performance obligation expected duration | 24 months |  | 24 months |  |

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