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Revenue Recognition - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Concentration Risk [Line Items] |  |  |
Period of time customer has to return equipment with no cancelation penalty | 1 day |  |
Contract with customer, asset, after allowance for credit loss, current | $ 8.6 | $ 11.1 |
United States | Geographic Concentration Risk | Revenue Benchmark |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 91.20% | 92.10% | 91.50%

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