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Revenue recognition - Narrative (Details) - USD ($) | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023 | Dec. 31, 2023
Disaggregation of Revenue [Line Items] |  |  |  |  |
Revenue, remaining performance obligation, amount | $ 322,400,000 |  | $ 322,400,000 |  |
Contract with customer, asset, noncurrent | 7,000,000.0 |  | 7,000,000.0 |  | $ 21,900,000
Current portion of contract liabilities | $ 7,300,000 |  | $ 7,300,000 |  | $ 27,200,000
Non-USG |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Lessee, operating lease, remaining lease term | 2 years 1 month 6 days |  | 2 years 1 month 6 days |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-10-01 |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Revenue, remaining performance obligation, amount | $ 281,600,000 |  | $ 281,600,000 |  |
Revenue, remaining performance obligation, expected timing of satisfaction, period | 24 months |  | 24 months |  |
Leases |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Leases | $ 400,000 | $ 1,000,000.0 | $ 800,000 | $ 5,500,000 |
Lessor, operating lease, payment to be received, remainder of fiscal year | 600,000 |  | 600,000 |  |
Lessor, operating lease, payment to be received, year one | 2,200,000 |  | 2,200,000 |  |
Lessor, operating lease, payment to be received, year two | 1,700,000 |  | 1,700,000 |  |
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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