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Net Sales and Revenue Recognition - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Concentration Risk [Line Items] |  |  |
Revenue recognized under net reporting arrangements | $ 81.8 | $ 83.8 | $ 71.7
Deferred revenue | $ 4.5 | $ 5.7 |
Product line as percentage of consolidated net sales | 10.00% |  |
Top Customer Concentration Risk | Sales Revenue Net | Top Five Customers Concentration Risk |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 12.00% |  |
Top Customer Concentration Risk | Sales Revenue Net | Largest Customer |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 3.00% |  |

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