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Goodwill and Intangible Assets - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Goodwill and Intangible Assets Disclosure [Abstract]      
Impairment of goodwill $ 0.0    
Amortization of intangible assets $ 20.2 $ 27.8 $ 27.4