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Leases - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Leases        
Sales-type lease, interest income $ 0.1 $ 0.1 $ 0.2 $ 0.2