Does the emission of semen without desire necessitate ghusl according to the Hanafis, considering the differing opinions of Abu Hanifa and Muhammad versus Abu Yusuf?

According to Abu Hanifa and Muhammad, ghusl (ritual bath) is obligatory if semen is discharged with pleasure, even if it separated with pleasure and then exited without ejaculation. However, Abu Yusuf stipulates that for ghusl to be obligatory, semen must be discharged with ejaculation and pleasure. Abu Hanifa and his two students (Abu Yusuf and Muhammad) agreed that the discharge of semen without pleasure does not necessitate ghusl.