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Intangible Assets - Amortization Expense - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Future Expected Aggregate Amortization Expense [Abstract]      
Amortization of intangible assets $ 20.7 $ 21.2 $ 20.0
Finite-lived intangible assets, amortization expense, 2024 18.1    
Finite-lived intangible assets, amortization expense, 2025 16.1    
Finite-lived intangible assets, amortization expense, 2026 14.3    
Finite-lived intangible assets, amortization expense, 2027 12.4    
Finite-lived intangible assets, amortization expense, 2028 $ 11.0