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Intangible Assets - Future annual expected amortization expense on intangible assets (Details)
$ in Millions
Dec. 31, 2022
USD ($)
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]  
2023 $ 5.4
2024 4.5
2025 3.0
2026 2.4
2027 2.1
2028 and thereafter $ 5.1