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Net Sales and Revenue Recognition - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Concentration Risk [Line Items]      
Revenue recognized under net reporting arrangements $ 81.8 $ 83.8 $ 71.7
Deferred revenue $ 4.5 $ 5.7  
Product line as percentage of consolidated net sales 10.00%    
Top Customer Concentration Risk | Sales Revenue Net | Top Five Customers Concentration Risk      
Concentration Risk [Line Items]      
Concentration risk, percentage 12.00%    
Top Customer Concentration Risk | Sales Revenue Net | Largest Customer      
Concentration Risk [Line Items]      
Concentration risk, percentage 3.00%