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Revenue from Contracts with Customers - Narratives (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Revenue from Contracts with Customers        
Percentage impact on revenue from performance obligations satisfied in previous period 2.40% 1.20% 3.20% 1.70%