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Goodwill and Intangibles - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]      
Goodwill impairment $ 0 $ 0 $ 0
Amortization expense 28,100,000 28,300,000 27,000,000
Impairment of intangible assets $ 0 $ 1,300,000 $ 900,000