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Revenue from Contracts with Customers - Remaining Performance Obligations (Details)
$ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
Remaining Performance Obligations  
The term of the renewable service maintenance agreements (in years) 1 year
Practical Expedient true
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Remaining Performance Obligations  
Remaining performance obligations $ 5,160
Expected timing of performance obligations 12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 | Minimum  
Remaining Performance Obligations  
Expected percentage of remaining performance obligations 65.00%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 | Maximum  
Remaining Performance Obligations  
Expected percentage of remaining performance obligations 75.00%