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Revenue - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |
Deferred revenue, current | $ 6.6 | $ 7.7
Other current liabilities | Maintenance |  |
Disaggregation of Revenue [Line Items] |  |
Deferred revenue, current | 6.6 | 7.7
Other liabilities | Maintenance |  |
Disaggregation of Revenue [Line Items] |  |
Deferred revenue, noncurrent | $ 2.7 | $ 3.5
Minimum |  |
Disaggregation of Revenue [Line Items] |  |
Standard prepaid maintenance contract time period (months) | 12 months |
Maximum |  |
Disaggregation of Revenue [Line Items] |  |
Standard prepaid maintenance contract time period (months) | 60 months |

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