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Work around ipython/ipython#1866 in Jupyter Notebook by prepending a unique slug to the id fields within the SVG. This also requires updating any filter, marker-start, and marker-end nodes which have a 'url(#id)' reference to refer to the beslugged version. If ever you see an issue where the SVG on the Model tab is fine but the rest are broken in some way, suspect a cross-SVG ID referencing issue. The Model tab is the first one rendered and will "win" any such conflict. JupyterLab renders SVGs within an iframe and is not impacted. Only Notebook (and Voila) really need to have the IDs uniquified. As it doesn't hurt JupyterLab to do this, we do so unconditionally.
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