Exploration of the Ice Giant Systems: A White Paper for NASA's Planetary Science and Astrobiology Decadal Survey 2023-2032

Ice giants are the only unexplored class of planet in our Solar System. Much that we currently know about these systems challenges our understanding of how planets, rings, satellites, and magnetospheres form and evolve. We assert that an ice giant Flagship mission with an atmospheric probe should be a priority for the decade 2023-2032.