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Revenues (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Disaggregation of Revenue [Line Items] |  |  |  |  |
Performance obligations satisfied or partially satisfied in previous periods | $ 7.8 | $ 11.6 | $ 5.4 | $ 13.1 |
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
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01 |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Unfulfilled performance obligations | $ 6.5 |  | $ 6.5 |  |
Performance obligation expected duration | 18 months |  | 18 months |  |

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