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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |
U.S. federal statutory income tax rate (as a percent) | 21.00% | 21.00% | 21.00% |
Income tax provision for undistributed foreign earnings | $ 0.0 |  |  |
Unremitted foreign earnings | $ 868.5 |  |  |
Effective income tax rate | 15.00% |  |  |
Net change in the total valuation allowance | $ (0.8) | $ (0.7) |  |
Tax credit carryforwards | 9.4 | 9.2 |  |
Valuation allowance on net operating losses | 4.3 |  |  |
Unrecognized tax benefits | 2.4 | 2.5 | $ 9.7 | $ 10.5
Unrecognized tax benefits that impact on effective tax rate | 2.4 |  |  |
Interest expense (income) related to unrecognized tax benefit | 0.0 | 0.0 |  |
Accrued interest related to the unrecognized tax benefit reversed | $ 0.0 | $ 0.0 |  |
Minimum [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Effective income tax rate | 15.00% |  |  |
Decrease in reasonably possible unrecognized tax benefits within next twelve months | $ 1.0 |  |  |
Maximum [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Decrease in reasonably possible unrecognized tax benefits within next twelve months | 1.5 |  |  |
U.S. |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | $ 7.6 |  |  |
U.S. | Minimum [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Statute of limitations on years that can be open for examination | 3 years |  |  |
Foreign country |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net change in the total valuation allowance | $ (0.8) |  |  |
Tax credit carryforwards | 9.4 |  |  |
Net operating loss carryforwards | $ 353.2 |  |  |
Foreign country | Minimum [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Statute of limitations on years that can be open for examination |  |  | 3 years |
Foreign country | Maximum [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Statute of limitations on years that can be open for examination | 5 years |  |  |

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