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Retirement Plans - Defined Contribution Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement Benefits [Abstract]      
Eligible employee contribution maximum (percentage) 85.00%    
Defined contribution plan, employment eligibility to receive matching contributions, minimum (in years) 6 months    
Defined contribution plan, percentage of eligible employee contribution match, first tier (percentage) 100.00%    
Defined contribution plan, percentage of eligible employee contributions matched fully, first tier (percentage) 3.00%    
Defined contribution plan, eligible employee contribution match, second tier (percentage) 50.00%    
Defined contribution plan, eligible employee contribution matched by the company, second tier (percentage) 2.00%    
Defined contribution plan, cost recognized $ 7.5 $ 7.5 $ 7.6