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Stock-Based Compensation - Equity Compensation Plans (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]          
Stock-based compensation $ 2.2 $ 4.0 $ 4.4 $ 4.0  
Stock-based compensation liability $ 5.5   $ 5.5   $ 3.3