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Revenue Recognition - Narrative (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Disaggregation of Revenue [Line Items]    
Deferred revenue, current $ 43.7 $ 35.1
Deferred revenue, noncurrent $ 81.8 $ 63.2
Minimum    
Disaggregation of Revenue [Line Items]    
Extended service warranty period 12 months  
Maximum    
Disaggregation of Revenue [Line Items]    
Extended service warranty period 84 months