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Income Taxes - Expected Expirations of Federal and State Losses and Credits (Details) $ in Millions	Dec. 31, 2023 USD ($)
Federal
Expirations of Operating Loss Carryforwards, Components [Abstract]
2024	$ 18.9
2025	13.7
2026	12.2
2027 and thereafter	249.2
Indefinite	719.3
Total	1,013.3
State
Expirations of Operating Loss Carryforwards, Components [Abstract]
2024	9.1
2025	5.2
2026	7.1
2027 and thereafter	332.0
Indefinite	0.6
Total	354.0
Foreign Tax Authority
Expirations of Operating Loss Carryforwards, Components [Abstract]
2024	0.0
2025	0.0
2026	0.0
2027 and thereafter	1.1
Indefinite	0.0
Total	1.1
Research Tax Credit Carryforward | Federal
Expirations of Tax Credit Carryforwards [Abstract]
2024	0.0
2025	0.0
2026	0.0
2027 and thereafter	41.6
Indefinite	0.0
Total	41.6
Research Tax Credit Carryforward | State
Expirations of Tax Credit Carryforwards [Abstract]
2024	0.0
2025	0.0
2026	0.0
2027 and thereafter	0.0
Indefinite	6.1
Total	$ 6.1

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