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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