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Commitments and Contingencies - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Loss Contingencies [Line Items] |  |  |  |
Tax credits |  | $ 2.2 | $ 1.9 | $ 2.1
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil |  |  |  |
Loss Contingencies [Line Items] |  |  |  |
Brazil tax credits |  | $ 1.3 | $ 11.1 |
Forecast | Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil |  |  |  |
Loss Contingencies [Line Items] |  |  |  |
Tax credits | $ 1.9 |  |  |

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