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Revenues - Contract assets (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 0
Change in Contract with Customer, Asset [Roll Forward]
Contract asset at beginning of period	5,300,000	$ 5,700,000
Additions	20,700,000	21,500,000
Reclassification to accounts receivable, billed to customers	(19,600,000)	(21,900,000)
Contract asset at end of period	$ 6,400,000	$ 5,300,000

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- Definition

Change in Contract with Customer, Asset [Roll Forward]

+ References

No definition available.

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- Definition

Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in measure of progress which increases (decreases) right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130551-203045

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- Definition

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

+ References

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-Publisher FASB
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- Definition

Amount of decrease in right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time from transfer to receivable due to right to consideration becoming unconditional.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
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-Topic 606
-SubTopic 10
-Section 50
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-Subparagraph (d)
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- Definition

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

+ References

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- References

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