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Disaggregation of Revenue - Contract assets and liabilities - Additional Information (Details) - USD ($)
$ in Millions
Sep. 30, 2024
Dec. 31, 2023
Sep. 30, 2023
Disaggregation of Revenue [Line Items]      
Contract assets $ 5.1 $ 3.4  
Contract liabilities     $ 0.7
Contract liabilities related to contract fulfillment 0.5  
Maximum      
Disaggregation of Revenue [Line Items]      
Contract liabilities $ 0.1