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Debt Instruments - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
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