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Condensed Consolidated Statements of Cash Flows Supplemental Information - Summary of Depreciation and Amortization (Parenthetical) (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Supplemental Cash Flow Elements [Abstract]    
Amortization of property, plant and equipment net in research and development $ 0.3 $ 0.3
Amortization of intangible assets net in research and development $ 0.6 $ 0.6