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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Line Items] |  |  |
Permanently reinvested earnings of non-U.S. subsidiaries | $ 54,900,000 | $ 45,300,000 |
Unrecognized deferred income tax liabilities on currently permanently reinvested earnings | 8,200,000 | 6,800,000 |
Foreign earnings repatriated | 134,100,000 | 199,900,000 | $ 116,000,000
Incremental income tax expense (benefit) | 0 | 0 | $ 0
Net operating loss carryforwards, foreign | 300,000 |  |
Net operating loss carryforwards, state and local | 600,000 |  |
Foreign tax credit and other carryforwards | 14,800,000 | 15,000,000.0 |
Foreign tax credit carryover for U.S. federal purposes | 10,600,000 |  |
Foreign |  |  |
Income Tax Disclosure [Line Items] |  |  |
Foreign tax credit and other carryforwards | 3,100,000 |  |
Other current assets |  |  |
Income Tax Disclosure [Line Items] |  |  |
Prepaid taxes | $ 14,300,000 | $ 15,100,000 |

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