Annual report pursuant to Section 13 and 15(d)

Basis of Presentation and Summary of Significant Accounting Policies - Foreign currency (Details)

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Basis of Presentation and Summary of Significant Accounting Policies - Foreign currency (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Foreign Currency Translation [Line Items]      
Aggregate transaction gain (loss) $ 0.1 $ (0.5)  
Maximum      
Foreign Currency Translation [Line Items]      
Aggregate transaction gain (loss)     $ 0.1