Goodwill and Intangible Assets - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Indefinite-lived Intangible Assets [Line Items]
Goodwill, impairment loss	$ 0	$ 0	$ 0
Net intangibles	241,036,000	297,146,000
Capitalized computer software, impairments	200,000	300,000	700,000
Amortization of intangible assets	68,700,000	77,500,000	$ 84,100,000
Software and Software Development Costs
Indefinite-lived Intangible Assets [Line Items]
Net intangibles	28,100,000	30,700,000
Capitalized computer software, additions	15,700,000	15,900,000
Software and Software Development Costs | Internal Cost
Indefinite-lived Intangible Assets [Line Items]
Capitalized computer software, additions	12,800,000	12,500,000
Software and Software Development Costs | External Cost
Indefinite-lived Intangible Assets [Line Items]
Capitalized computer software, additions	2,900,000	3,400,000
Technology
Indefinite-lived Intangible Assets [Line Items]
Net intangibles	29,890,000	$ 39,845,000
Finite lived intangible assets, not yet in service	$ 6,900,000