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Revenue recognition - Performance Obligations (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Remaining Performance Obligation    
Remaining performance obligations   $ 1.4
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01    
Remaining Performance Obligation    
Remaining performance obligations $ 0.8  
Revenue, performance obligation, period 1 year