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Revenues - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Disaggregation of Revenue [Line Items]      
Recognized service revenue $ 11.9 $ 12.2  
Refund liability $ 0.2 $ 0.1  
Minimum      
Disaggregation of Revenue [Line Items]      
Extended product warranty term 1 month    
Maximum      
Disaggregation of Revenue [Line Items]      
Extended product warranty term 3 years    
Commissions      
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, gross $ 3.9   $ 4.1
Prepaid expenses and other current assets | Commissions      
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, gross 2.5   2.6
Other long-term assets | Commissions      
Disaggregation of Revenue [Line Items]      
Capitalized contract cost, gross $ 1.4   $ 1.5