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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Valuation Allowance [Line Items]          
Valuation allowance $ 8.5     $ 8.5  
Impact of research and development tax credits $ 4.6     $ 4.6  
Impact of change in tax rates     $ 1.0    
Effective income tax rate before impact of discrete items 26.10% 32.30%   27.20% 29.10%
Foreign Tax Credit Carryforward          
Valuation Allowance [Line Items]          
Valuation allowance, increase (decrease) $ 8.5 $ (11.3)   $ 8.5