What happens when a Kafka broker fails with respect to consumer group coordination?

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As described. Assume I have 3 brokers. When I connect as a consumer, one of the brokers becomes the group coordinator. I then kill a broker (or it dies). If I try to reconnect to a broker right away, I get coordinator unavailable error.

How does Kafka know that the broker died, and how long does it take to assign a new coordinator? And how is it configured?

This should be in the docs, but I could not find it.

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