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Revenue recognition - Narrative (Details) - USD ($) | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Disaggregation of Revenue [Line Items] |  |  |  |  |
Revenue, remaining performance obligation, amount | $ 383,700,000 |  | $ 383,700,000 |  |
Contract with customer, asset, noncurrent | 8,000,000.0 |  | 8,000,000.0 |  | $ 21,900,000
Current portion of contract liabilities | $ 6,200,000 |  | $ 6,200,000 |  | $ 27,200,000
Non-USG |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Lessee, operating lease, remaining lease term | 4 years 6 months |  | 4 years 6 months |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01 |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Revenue, remaining performance obligation, amount | $ 361,300,000 |  | $ 361,300,000 |  |
Revenue, remaining performance obligation, expected timing of satisfaction, period | 24 months |  | 24 months |  |
Leases |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Leases | $ 200,000 | $ 2,700,000 | $ 400,000 | $ 4,500,000 |
Lessor, operating lease, payment to be received, remainder of fiscal year | 400,000 |  | 400,000 |  |
Lessor, operating lease, payment to be received, year one | 800,000 |  | 800,000 |  |
Lessor, operating lease, payment to be received, year two | 900,000 |  | 900,000 |  |
Lessor, operating lease, payment to be received, year three | 900,000 |  | 900,000 |  |
Lessor, operating lease, payment to be received, year four | 900,000 |  | 900,000 |  |
Lessor, operating lease, payment to be received, after year four | $ 0 |  | $ 0 |  |

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