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Revenue (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |
Outstanding performance obligation | $ 154,297 |
Warranty period | 1 year |
Total revenue | $ 133,001 | $ 146,116
Amounts included in contract liability at the beginning of period | 11,895 | 14,473
Collaborative Arrangement |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |
Total revenue | $ 2,432 | $ 1,807
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2022-04-01 |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |
Remaining performance obligation (as a percentage) | 88.00% |
Performance obligations expected to be satisfied, expected timing | 12 months |
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2023-04-01 |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |
Remaining performance obligation (as a percentage) | 9.00% |
Performance obligations expected to be satisfied, expected timing | 9 months |

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