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Business Segments - Additional Information (Details) | 3 Months Ended
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Mar. 31, 2024 USD ($) Segment | Mar. 31, 2023 USD ($)
Concentration Risk [Line Items] |  |
Number of reportable business segments | Segment | 3 |
Restructuring and Related Cost, Incurred Cost | $ 0 |
2021 Global Strategic Plan |  |
Concentration Risk [Line Items] |  |
Restructuring and Related Cost, Incurred Cost | $ 0 | $ 1,700,000

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