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Revenue Recognition (Details) - item
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Revenue recognition        
Remaining performance obligation, expected timing for substantial portion of performance obligations     3 months  
Practical expedient, performance obligation     true  
Minimum        
Revenue recognition        
Number of reporting periods that may be extended across for multiple delivery dates     1  
Maximum        
Revenue recognition        
Percentage of net sales recognized over time 5.00% 5.00% 5.00% 5.00%
Remaining performance obligation, expected timing for nearly all performance obligations     1 year