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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Contingency [Line Items] |  |  |
Undistributed earnings of foreign subsidiaries | $ 102.5 |  |
Undistributed foreign earnings, deferred tax liability reduction, percent | 12.00% | 7.20% |
U.S. federal and state tax credits | $ 3.7 | $ 3.6 |
Operating loss carryforwards, tax effected | 6.9 | 8.0 |
Net valuation allowance release | 0.1 |  |
Unrecognized tax benefits | 3.7 | 3.9 |
Unrecognized tax benefits, ending balance | 4.1 | 4.2 | $ 4.7
Unrecognized tax benefits, income tax penalties and interest accrued | $ 0.5 | $ 0.6 |
Minimum |  |  |
Income Tax Contingency [Line Items] |  |  |
Open tax year, term (Year) | 3 years |  |
Maximum |  |  |
Income Tax Contingency [Line Items] |  |  |
Open tax year, term (Year) | 5 years |  |
U.S. Federal and State Tax Credits |  |  |
Income Tax Contingency [Line Items] |  |  |
U.S. federal and state tax credits | $ 3.0 |  |
Foreign Tax Authority |  |  |
Income Tax Contingency [Line Items] |  |  |
Non-U.S. cumulative tax losses | 26.0 |  |
Operating loss carryforwards, tax effected | 6.9 |  |
Cumulative losses | 26.0 |  |
Limited carryforward period of losses | 0.1 |  |
Foreign Tax Authority | Netherlands Tax Credits |  |  |
Income Tax Contingency [Line Items] |  |  |
Netherlands tax credits | $ 1.3 |  |

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