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Agreements and Transactions with Related Parties - Shared Services Agreement (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Related Party | Other Related Party Transactions |  |  |
Agreements and Transactions with Related Parties |  |  |
Costs for services to related party | $ 3.2 | $ 3.3 | $ 3.2

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