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Income Taxes - Roll forward of interest accrued on unrecognized tax benefits (Details) - USD ($) $ in Millions | 12 Months Ended |
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Abstract] |  |  |  |
Accrued interest on the consolidated balance sheets | $ 0.5 | $ 0.1 | $ 0.5 | $ 0.8
Interest expense (income) related to unrecognized tax benefits | 0.4 | (0.4) | (0.3) |
Penalties in the consolidated income statements | 0.0 | 0.0 | $ 0.0 |
Accrued penalties on the consolidated balance sheets | 0.0 | $ 0.0 |  |
Unrecognized tax benefits, decrease resulting from statute of limitations | $ 2.3 |  |  |

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- Definition Amount of statutory penalties accrued for a tax position claimed or expected to be claimed by the entity, in its tax return. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of expense for penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of interest expense accrued for an underpayment of income taxes. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of interest expense for an underpayment of income taxes. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Unrecognized tax benefits, decrease possible in the next 12 months resulting from statute of limitations + References No definition available. + Details
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