Goodwill and Intangible Assets - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Goodwill and Intangible Assets Disclosure [Abstract]
Accumulated goodwill impairment losses	$ 0.1
Foreign currency translation losses	0.1	$ 0.9
Amortization of intangible assets	3.6	$ 3.7	$ 5.4
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]
Estimated annual amortization expense, 2024	3.9
Estimated annual amortization expense, 2025	3.1
Estimated annual amortization expense, 2026	2.7
Estimated annual amortization expense, 2027	2.5
Estimated annual amortization expense, 2028	$ 2.0