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Goodwill and Intangible Assets - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Goodwill and Intangible Assets Disclosure [Abstract]        
Goodwill, impairment loss $ 0 $ 0 $ 0 $ 0
Amortization of intangible assets 5,200,000 5,500,000 15,525,000 16,114,000
Payments to acquire intangible assets 0 0 0 0
Impairment of intangible assets $ 0 $ 0 $ 0 $ 0