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Summary of Significant Accounting Policies - Cash, Cash Equivalents and Restricted Cash (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) £ / $ | Dec. 31, 2022 USD ($) £ / $
Cash and Cash Equivalents [Line Items] |  |
Restricted cash | $ 0.3 | $ 0.3
Average foreign currency exchange rate, translation | £ / $ | 0.8032 | 0.8108
Increase of average foreign currency exchange rate, translation | £ / $ | 0.05 |
GBP |  |
Cash and Cash Equivalents [Line Items] |  |
Effect of exchange rate on revenue during the year | $ 2.8 |
Effect of exchange rate on operating income during the year | 0.7 |
Effect of exchange on revenue per 0.05 increase in foreign exchange rate | 7.9 |
Effect of exchange on operating income per 0.05 increase in foreign exchange rate | $ 0.7 |

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- Definition Amount of cash restricted as to withdrawal or usage, classified as current. Cash includes, but is not limited to, currency on hand, demand deposits with banks or financial institutions, and other accounts with general characteristics of demand deposits. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 210 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(1)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 230 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482913/230-10-50-8 + Details
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