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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%