Soap/detergent will not remove the discoloration. Soap is a surfactant - it works by making water "wetter". Just about any soap/detergent you have around the house will be OK. Just make sure you rinse real well.
There are some soaps that might not be the best choice as they may etch the metal if left in contact for too long, eg, lye soap. But, in the concentrations you would be using, it would take hours to do much damage.
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