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Retirement Benefit Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement Benefit Plan      
Employer percentage match of employees contribution 100.00%    
Employer maximum contribution as a percentage of gross pay 5.00%    
Employer matching contributions for retirement plan (in dollars) $ 5.2 $ 4.9 $ 4.4