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Restructuring and Other Charges - Additional information (Details) - USD ($) | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Restructuring Cost and Reserve [Line Items] |  |  |  |
Additions for costs expensed |  |  | $ 0 |
2021 Global Strategic Plan |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Additions for costs expensed | $ 0 | $ (600,000) | $ 0 | $ 1,100,000

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