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Stock-Based Compensation - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement [Abstract] |  |  |  |
Share based compensation, value of forfeitures | $ 0.1 | $ 0.1 | $ 0.4 | $ 0.9
Share-based payment arrangement, expense | 4.0 | $ 3.5 | 10.6 | $ 10.3
Unrecognized compensation expense | $ 25.3 |  | $ 25.3 |

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