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Shareholders' Equity - Expense (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 5.1 | $ 4.4 | $ 10.0 | $ 8.7
Additional information |  |  |  |
Weighted average remaining service period |  |  | 2 years |
Expected pre-tax stock-based compensation expense | 2.7 |  | $ 2.7 |
2016 Incentive Compensation Plan |  |  |  |
Additional information |  |  |  |
Weighted average remaining service period |  |  | 2 years 3 months 18 days |
Expected pre-tax stock-based compensation expense | 32.9 |  | $ 32.9 |
Cost of revenues |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 0.4 | 0.4 | 0.8 | 0.7
Selling, general and administrative |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 4.1 | 3.5 | 8.0 | 7.1
Research and development |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 0.6 | 0.5 | 1.2 | 0.9
Other charges, net |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 1.7 | 1.2 | 2.2 | 3.4
Employee Stock Option |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 0.4 | 0.4 | 0.9 | 0.8
Restricted stock units |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 4.4 | 3.8 | 8.6 | 7.5
Employee Stock Purchase Plan |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 0.3 | $ 0.2 | $ 0.5 | $ 0.4

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