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Revenue - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Capitalized Contract Cost [Line Items]          
Revenue recognized     $ 21.0    
Cost to obtain contracts amortization period 5 years   5 years    
Short-term assets $ 8.1   $ 8.1   $ 6.6
Long-term assets 17.5   17.5   $ 15.1
Sales and Marketing Expense          
Capitalized Contract Cost [Line Items]          
Amortization expense 1.4 $ 1.1 4.2 $ 3.1  
Cost of revenues          
Capitalized Contract Cost [Line Items]          
Amortization expense $ 0.6 $ 0.4 $ 1.6 $ 1.2