Expanding a parent to the height of its children

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I have a page structure similar to this:

<body>
  <div id="parent">
    <div id="childRightCol">
      /*Content*/
    </div>
    <div id="childLeftCol">
      /*Content*/
    </div>
  </div>
</body>

I would like for the parent div to expand in height when the inner div‘s height increases.

Edit:
One problem is that if the width of the child content expands past the width of the browser window, my current CSS puts a horizontal scrollbar on the parent div. I would like the scrollbar to be at the page level. Currently my parent div is set to overflow: auto;

Can you please help me with the CSS for this?

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