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Summary of Significant Accounting Policies - Foreign Currency Translation (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Other Expense, Net [Member] |  |  |
Foreign Currency Translation [Line Items] |  |  |
Net Foreign Currency Transaction Gains (Losses) | $ 0.3 | $ 0.7 | $ (0.9)

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