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Commitments and Contingencies - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Loss Contingencies [Line Items] |  |
Income tax expense (benefit) | $ 1.0 | $ 0.4
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil |  |
Loss Contingencies [Line Items] |  |
Tax credits | 1.9 |
Income tax expense (benefit) | $ (2.6) |

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