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Summary of Significant Accounting Policies - Long-Lived Assets (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Property, Plant and Equipment      
Impairment losses of property, plant and equipment $ 0 $ 0 $ 9,300,000
Impairment losses of intangible assets, finite-lived     $ 30,700,000
Impairment, Intangible Asset, Finite-Lived, Statement of Income or Comprehensive Income [Extensible Enumeration]     Asset Impairment Charges
Buildings | Minimum      
Property, Plant and Equipment      
Useful lives 5 years    
Buildings | Maximum      
Property, Plant and Equipment      
Useful lives 50 years    
Machinery and equipment | Minimum      
Property, Plant and Equipment      
Useful lives 3 years    
Machinery and equipment | Maximum      
Property, Plant and Equipment      
Useful lives 20 years