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Basis of Presentation and Summary of Material Accounting Policies - Foreign currency translation (Details)
12 Months Ended
Dec. 31, 2023
USD ($)
EUR (€)
Dec. 31, 2022
USD ($)
EUR (€)
Dec. 31, 2021
USD ($)
EUR (€)
Euro Member Countries, Euro      
Foreign Currency Translation      
Closing rate | € 1.4626 1.4458 1.4391
Average rate | € 1.4597 1.3696 1.4828
United States of America, Dollars      
Foreign Currency Translation      
Closing rate | $ 1.3226 1.3544 1.2678
Average rate | $ 1.3497 1.3013 1.2535