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Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Deferred revenue, current	$ 7.9	$ 6.6
Other Current Liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, current	7.9	6.6
Other liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, noncurrent	$ 2.4	$ 2.7
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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