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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