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Revenue - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Revenue Recognition [Abstract]    
Contract assets $ 20.1 $ 24.9
Invoiced to customers amount that exceeded estimates of standalone selling price 19.3 29.5
Unbilled receivables 33.2 46.7
Revenue recognized included in deferred revenue $ 33.2 $ 20.4