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Revenue Recognition - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Deferred Revenue and Product Warranty [Line Items]        
Recognized revenue, contract liabilities $ 0.3 $ 0.2 $ 0.5 $ 0.9
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01        
Deferred Revenue and Product Warranty [Line Items]        
Remaining performance obligations $ 1.0   $ 1.0  
Remaining performance obligations over a weighted average term 4 years 4 months 24 days   4 years 4 months 24 days  
Maximum        
Deferred Revenue and Product Warranty [Line Items]        
Warranty period     25 years  
Minimum [Member]        
Deferred Revenue and Product Warranty [Line Items]        
Warranty period     5 years