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Goodwill and Intangible Assets (Details Textual) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Finite Lived Intangible Assets [Line Items]    
Total amortization expense $ 5.4 $ 6.7
Estimated total amortization expense 2024 18.6  
Estimated total amortization expense 2025 11.9  
Estimated total amortization expense 2026 8.0  
Estimated total amortization expense 2027 3.2  
Estimated total amortization expense 2028 2.5  
Customer contract costs    
Finite Lived Intangible Assets [Line Items]    
Total amortization expense $ 5.0 $ 4.6