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Revenues (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Disaggregation of Revenue [Line Items] |  |  |
Estimated revenues recognized | 75.00% |  |
Performance obligations satisfied or partially satisfied in previous periods | $ 24.4 | $ 26.3 | $ 19.0
Contract asset | 0.0 | 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 |  | 18 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Unfulfilled performance obligations | $ 3.6 |  |
Performance obligation expected duration | 18 months |  |

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- Definition Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130549-203045 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI https://asc.fasb.org/extlink&oid=126919976&loc=SL49130531-203044 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=126919976&loc=SL49130533-203044 + Details
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