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Revenues (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |  |
Estimated revenues recognized | 77.00% |  |
Performance obligations satisfied or partially satisfied in previous periods | $ 11.7 | $ 24.4 | $ 26.3
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 |  | 36 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Unfulfilled performance obligations | $ 34.6 |  |
Performance obligation expected duration | 36 months |  |

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