Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Contingency [Line Items]
Liability for unrecognized tax benefits	$ 25.8
Increase (decrease) in valuation allowance	(4.8)	$ 10.2
Unrecognized tax benefits, accrued interest	$ 0.6	$ 0.3
Effective income tax rate reconciliation, percent 2018 through 2025	10.50%
Effective income tax rate Reconciliation, percent after 2025	13.125%
Maximum
Income Tax Contingency [Line Items]
Foreign Tax Returns, Income Tax Examination, Period	10 years
United Kingdom
Income Tax Contingency [Line Items]
Deferred tax assets, foreign NOLs	$ 4.8
State
Income Tax Contingency [Line Items]
Deferred tax assets, state NOLs	17.5
State research and development credit carry forwards	$ 29.0