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Debt Instruments - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Debt Disclosure [Abstract] |  |  |
Interest expense | $ 2.7 | $ 3.4 | $ 3.5
Total estimated fair value of the notes | $ 301.4 | $ 517.5 |

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