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Goodwill and Intangible Assets - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Goodwill and Intangible Assets      
Amortization expense for intangible assets $ 16.3 $ 15.1 $ 14.4