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Intangible Assets - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Finite-Lived Intangible Assets      
Amortization of intangible assets $ 4,100,000 $ 5,900,000 $ 9,100,000
Impairment of intangible assets 0 $ 0 $ 0
Customer relationships      
Finite-Lived Intangible Assets      
Impairment of intangible assets $ 3,800,000