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Stock Plans and Share-Based Compensation - Share-Based Payment Arrangement, Nonvested Award, Cost Not Yet Recognized (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unamortized compensation expense	$ 16.2
Weighted-average remaining recognition period	1 year 4 months 24 days
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unamortized compensation expense	$ 25.0
Weighted-average remaining recognition period	1 year

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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