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Stock-Based Compensation and Stock Awards - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Selling, General and Administrative Expenses        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense $ 2.6 $ 2.6 $ 5.1 $ 5.1