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Revenue - Transaction Price Allocated to the Remaining Performance Obligation (Details)
$ in Thousands
9 Months Ended
Sep. 30, 2021
USD ($)
Revenue from Contract with Customer [Abstract]  
Remaining performance obligation, amount $ 78,124
Remaining performance obligation, percentage 47.20%
Expected to be recognized within the following year 23.60%
Expected to be recognized in 3 to 10 years 17.50%
Transaction Price Allocated to the Remaining Performance Obligation  
Expected to be recognized in 3 to 10 years 17.50%
Revenue, Remaining Performance Obligation, Percentage, Expected to Be Recognized in 6 to 10 Years 6.20%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-10-01  
Transaction Price Allocated to the Remaining Performance Obligation  
Percentage of remaining performance obligation 52.80%
Expected timing of satisfaction, period 12 months