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Revenue Recognition - Remaining Performance Obligation (Details)
12 Months Ended
Dec. 31, 2021
Remaining performance obligations  
Revenue recognized from beginning balance of contract with customer liability (as a percent) 29.00%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01  
Remaining performance obligations  
Percentage of remaining performance obligation expected to be recognized in period 30.00%
Revenue, Remaining performance obligation, expected timing of satisfaction period 12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01  
Remaining performance obligations  
Revenue, Remaining performance obligation, expected timing of satisfaction period
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01  
Remaining performance obligations  
Percentage of remaining performance obligation expected to be recognized in period 41.00%
Revenue, Remaining performance obligation, expected timing of satisfaction period 12 months