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Revenue - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Concentration Risk [Line Items]        
Liability, revenue recognized $ 3.3 $ 5.5 $ 25.1 $ 21.1
Accounts Receivable [Member] | Customer Concentration Risk | Prime Contracts with the US Government [Member]        
Concentration Risk [Line Items]        
Concentration Risk, Percentage     36.00% 25.00%