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Revenue - Narrative (Details)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
USD ($)
Sep. 30, 2023
USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]    
Contract revenue recognized $ 4.3 $ 45.8
Contract acquisition costs    
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]    
Amortization period of capitalized contract cost (in years) 5 years 5 years