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Leases - Components of Lease Expense (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Operating lease cost:        
Amortization of right-of-use assets $ 0.9 $ 1.4 $ 2.0 $ 2.8
Interest on lease liabilities 0.2 0.3 0.4 0.6
Total operating lease cost $ 1.1 $ 1.7 $ 2.4 $ 3.4