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Revenue from Contracts with Customers - Future Performance Obligation (Details) - USD ($)
$ in Millions
Mar. 31, 2023
Dec. 31, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01    
Revenue from Contract with Customer [Abstract]    
Remaining performance obligations   $ 9.5
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Performance obligation period   1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01    
Revenue from Contract with Customer [Abstract]    
Remaining performance obligations $ 9.5  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Performance obligation period 1 year  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01    
Revenue from Contract with Customer [Abstract]    
Remaining performance obligations   $ 1.9
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Performance obligation period   1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01    
Revenue from Contract with Customer [Abstract]    
Remaining performance obligations $ 1.6  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Performance obligation period 1 year