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Revenues (Details) - USD ($)
$ in Millions
12 Months Ended
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