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Accrued Expenses and Other Current Liabilities - Narrative (Details) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2022 USD ($) notice | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($)
Payables and Accruals [Abstract] |  |  |
Number of voluntary medical device correction notices issued | notice | 2 |  |
Loss contingency estimate |  |  | $ 68.9
Decrease of loss contingency accrual |  |  | 11.0
Net charge of loss contingency during period |  |  | 57.9
Change in estimate |  | $ (11.5) | (14.0)
Estimated liability related to the MDCs | $ 54.6 | $ 0.7 | $ 54.6

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