High idle on startup

speed858

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2007 Mazda Speed3 GT, Sunlight Silver
Every morning when I go to start my car it revs up to about 2000 and idles there for about a min or until I start driving. Once the engine is warmed up it doesn't do this for the rest of the day. It seems like it only does it after the car has sat over night. I don't think the cold could be a factor because I live in san diego and park my car in the garage. Is this normal or should I be worried?
 
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