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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Taxes        
Valuation allowance $ 6.8 $ 9.0    
Income tax refund receivable related to CARES Act   20.5   $ 15.4
Increase (decrease) in income taxes refund receivable     $ 5.1  
Additional tax benefit related to carryback the federal taxable loss     2.0  
Taxes paid 10.2 13.8 0.8  
Taxes refunded 0.2 $ 20.9 $ 0.3  
Foreign and State        
Income Taxes        
Operating loss carryforwards and tax credits $ 17.7      
Foreign and State | Minimum        
Income Taxes        
Operating loss carryforwards and tax credits, expiration year 2024      
Foreign and State | Maximum        
Income Taxes        
Operating loss carryforwards and tax credits, expiration year 2043