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Goodwill and Intangible Assets - Intangible Assets Amortized Over Estimated Useful Lives (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Goodwill [Line Items] |  |
Total intangible assets, net | $ 35.5 | $ 37.2
Acquired IPR&D |  |
Goodwill [Line Items] |  |
Net Carrying Amount | $ 3.6 |
Developed product rights |  |
Goodwill [Line Items] |  |
Useful Life | 10 years |
Gross Carrying Amount | $ 35.9 |
Accumulated Amortization | 4.0 |
Net Carrying Amount | $ 31.9 |

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