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Goodwill and Intangible Assets - Finite-Lived Intangible Assets Amortization Expense (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]    
Amortization expense $ 16.4 $ 16.0