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Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]        
Revenue recognized from performance obligations satisfied In previous periods $ 0.1 $ 0.6 $ 1.2 $ 1.4
Revenue recognized that was previously included in contract liability $ 2.8 $ 3.5 $ 5.4 $ 8.1