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Leases - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lessee Disclosure [Abstract]      
Operating lease extension details multiple renewal periods    
Operating lease, existence of option to extend true    
Operating lease expiry term 2029    
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Other Assets, Noncurrent Other Assets, Noncurrent  
Right-of-use lease assets $ 23.9 $ 26.0  
Cash paid for measurement of operating lease liabilities $ 13.4 $ 13.1 $ 11.8
Operating lease weighted average remaining lease term 4 years 6 months 3 years  
Financing lease weighted average remaining lease term   2 years 9 months 18 days  
Operating lease weighted average discount rate 9.60% 6.70%  
Financing lease weighted average discount rate   5.10%