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Revenue Recognition - Narrative (Details) - Geographic Concentration Risk - Revenue Benchmark
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
United States        
Disaggregation of Revenue [Line Items]        
Concentration risk percentage 44.20% 40.00% 50.00% 51.00%
China        
Disaggregation of Revenue [Line Items]        
Concentration risk percentage 17.90%      
CANADA        
Disaggregation of Revenue [Line Items]        
Concentration risk percentage 10.80%