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Commitments and Contingencies - Lease commitments and operating lease cost (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Commitments and Contingencies        
Operating lease cost $ 0.9 $ 0.9 $ 2.7 $ 2.8