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Restructuring - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended | 15 Months Ended | 21 Months Ended
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2023 | Dec. 31, 2021
Restructuring Cost And Reserve [Line Items] |  |  |  |  |
Payments for restructuring | $ 5.0 | $ 0.4 |  |  |
2022 Plan |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |
Total amount expected to be incurred | 8.0 |  |  | $ 8.0 |
Restructuring costs | 5.0 | 2.2 |  | 7.2 |
Payments for restructuring | $ 5.5 | $ 0.5 |  | $ 5.4 |
2020 Plan |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |
Restructuring costs |  |  |  |  | $ 6.7
Payments for restructuring |  |  | $ 0.6 |  |

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