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Goodwill and Intangible Assets - Goodwill (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Goodwill [Roll Forward]    
Beginning balance $ 181.6 $ 183.8
Foreign currency translation 0.5 (2.2)
Ending balance $ 182.1 $ 181.6