Intangible Assets - Amortization Expense - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Future Expected Aggregate Amortization Expense [Abstract]
Amortization of intangible assets	$ 21.2	$ 20.0	$ 16.1
Finite-lived intangible assets, amortization expense, 2023	20.7
Finite-lived intangible assets, amortization expense, 2024	17.9
Finite-lived intangible assets, amortization expense, 2025	15.9
Finite-lived intangible assets, amortization expense, 2026	14.1
Finite-lived intangible assets, amortization expense, 2027	$ 12.2