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Commitments and Contingencies - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Loss Contingencies [Line Items] |  |  |
Additional tax credit | $ 1.9 | $ 2.1 | $ 0.0
Income tax expense | 28.1 | 9.5 | $ 16.6
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil |  |  |
Loss Contingencies [Line Items] |  |  |
Brazil tax credits | 11.1 | $ 10.7 |
Additional tax credits | $ 3.0 |  |

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