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Goodwill and Intangible Assets (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Finite Lived Intangible Assets [Line Items]        
Total amortization expense $ 6.4 $ 7.7 $ 13.0 $ 14.8
Estimated total amortization expense 2023 25.1   25.1  
Estimated total amortization expense 2024 14.7   14.7  
Estimated total amortization expense 2025 11.3   11.3  
Estimated total amortization expense 2026 7.7   7.7  
Estimated total amortization expense 2027 3.1   3.1  
Customer contract costs        
Finite Lived Intangible Assets [Line Items]        
Total amortization expense $ 4.8 $ 3.8 $ 9.4 $ 10.3