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Property, Equipment and Capitalized Software - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Property, Plant and Equipment [Abstract]      
Depreciation expense $ 25.6 $ 26.1 $ 28.4
Capitalized software development costs 40.4 35.5 35.8
Amortization expense on capitalized software development costs $ 37.7 $ 40.2 $ 39.4