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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Share based compensation, value of forfeitures $ 0.1 $ 0.1 $ 0.4 $ 0.9
Share-based payment arrangement, expense 4.0 $ 3.5 10.6 $ 10.3
Unrecognized compensation expense $ 25.3   $ 25.3