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This crash is often caused by a plugin (particularly the Google Talk plugin). You can disable the plugin by following the following steps:
For other plugins, see Troubleshoot issues with plugins like Flash or Java to fix common Firefox problems.
If disabling all your plugins does not fix this crash, see Troubleshoot Firefox issues caused by malware.
For troubleshooting other types of Firefox crashes, see Firefox crashes - Troubleshoot, prevent and get help fixing crashes