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Goodwill and Intangible Assets - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Goodwill [Line Items]      
Goodwill, impaired, accumulated impairment loss $ 148,400,000    
Goodwill, impairment loss 0 $ 0  
Impairment of intangible assets (excluding goodwill) 0 0  
Aggregate amortization expense on intangible assets $ 14,100,000 $ 15,200,000 $ 13,000,000