The hjpotter92 answer works well enough in certain cases, but I found the iframe content often got bottom-clipped in Firefox & IE, while fine in Chrome.
The following works well for me and fixes the clipping problem. The code was found at http://www.dyn-web.com/tutorials/iframes/height/. I have made a slight modification to take the onload attribute out of the HTML. Place the following code after the HTML and before the closing