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Revenues - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Disaggregation of Revenue [Line Items]          
Recognized service revenue $ 7.8 $ 6.3 $ 29.8 $ 25.9  
Refund liability 0.1 $ 0.1 $ 0.1 $ 0.1  
Minimum          
Disaggregation of Revenue [Line Items]          
Extended product warranty term     1 month    
Maximum          
Disaggregation of Revenue [Line Items]          
Extended product warranty term     3 years    
Commissions          
Disaggregation of Revenue [Line Items]          
Capitalized contract cost, gross 3.0   $ 3.0   $ 3.1
Prepaid expenses and other current assets | Commissions          
Disaggregation of Revenue [Line Items]          
Capitalized contract cost, gross 2.0   2.0   2.1
Other long-term assets | Commissions          
Disaggregation of Revenue [Line Items]          
Capitalized contract cost, gross $ 1.0   $ 1.0   $ 1.0