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Revenue - Adjustments to Revenue (Details) | 3 Months Ended | 6 Months Ended
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Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
U.S. | Sales returns, rebates, and discounts |  |  |  |
Change in Accounting Estimate [Line Items] |  |  |  |
Revenue, information used to determine revenue recognized, change in accounting estimate, percent (less than) | 4.00% | 1.00% | 3.00% | 1.00%

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