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Leases - Lease Cost and Cash Flows (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lease costs:      
Operating lease costs $ 11.9 $ 11.0 $ 7.7
Short-term and variable lease costs 0.5 0.2 0.2
Cash flows:      
Operating cash flows from operating leases $ 11.7 $ 10.7 $ 7.5
Weighted average remaining lease term (in years) 6 years 4 months 24 days 6 years 7 months 6 days  
Weighted average discount rate 3.80% 3.50%