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Revenues - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, net $ 4.4   $ 4.6
Recognized service revenue 12.1 $ 11.4  
Refund liability 0.1   0.1
Prepaid Expenses and Other Current Assets      
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, net 3.4   3.5
Other Long-term Assets      
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, net $ 1.0   $ 1.1
Minimum      
Disaggregation of Revenue [Line Items]      
Extended product warranty term (in years) 1 month    
Maximum      
Disaggregation of Revenue [Line Items]      
Extended product warranty term (in years) 3 years