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Income Taxes - Expiry Dates of Federal and State Income Tax Credit Carryforwards (Details)
$ in Millions
Dec. 31, 2023
USD ($)
U.S. Federal  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards $ 46.6
State  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards 33.7
U.S. foreign tax credit | U.S. Federal  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards 2.2
U.S. business tax credits | U.S. Federal  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards 44.4
State business tax credits - indefinite lived | State  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards 29.4
State business tax credits - definite lived | State  
Tax Credit Carryforward [Line Items]  
Tax credit carryforwards $ 4.3