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Revenue - Narrative (Details) - Receivables from Franchise Revenue Transactions - USD ($)
$ in Millions
Sep. 30, 2023
Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Billed and unbilled receivables $ 66.2 $ 69.0
Billed and unbilled receivables, accumulated allowance for credit loss $ 3.6 $ 1.3