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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Share based compensation, value of forfeitures $ 0.2 $ 0.2 $ 0.3 $ 0.8
Share-based payment arrangement, expense 3.6 $ 3.2 6.7 $ 6.8
Unrecognized compensation expense $ 29.0   $ 29.0