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Revenue Recognition - Lease Revenue (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Revenue $ 438,909 $ 347,151 $ 1,165,163 $ 822,572
Rental Program        
Disaggregation of Revenue [Line Items]        
Revenue $ 4,323 $ 5,542 $ 12,831 $ 13,879