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Operating Leases - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Lessee, Lease, Description [Line Items]        
Weighted average remaining lease term 3 years 10 months 24 days 4 years 1 month 6 days 3 years 10 months 24 days 4 years 1 month 6 days
Weighted average discount rate (as a percent) 7.70% 6.30% 7.70% 6.30%
Foreign currency transaction gain, before tax     $ 1.7 $ 0.4
Foreign currency transaction loss, before tax $ (0.6) $ (0.4)    
Minimum        
Lessee, Lease, Description [Line Items]        
General term of leased facilities 3 years   3 years  
Leased facilities renewal term 3 years   3 years  
Maximum        
Lessee, Lease, Description [Line Items]        
General term of leased facilities 5 years   5 years  
Leased facilities renewal term 5 years   5 years