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The Dicke model, which describes the dipolar coupling between N two-level atoms and a quantized electromagnetic field, seemingly violates gauge invariance in the presence of ultrastrong light-matter coupling, a regime that is now experimentally accessible in many physical systems. Specifically, it has been shown that, while the two-level approximation can work well in the dipole gauge, the Coulomb gauge fails to provide the correct spectra in the ultrastrong coupling regime. Here we show that, taking into account the nonlocality of the atomic potential induced by the two-level approximation, gauge invariance is fully restored for arbitrary interaction strengths, even in the limit of N going to infinity. Finally, we express the Hopfield model, a general description based on the quantization of a linear dielectric medium, in a manifestly gauge invariant form, and show that the Dicke model in the dilute regime can be regarded as a particular case of the more general Hopfield model.