Goodwill and Intangible Assets - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Indefinite-lived Intangible Assets [Line Items]
Goodwill, impairment loss	$ 0	$ 0	$ 0
Net intangibles	230,212,000	241,036,000
Capitalized computer software, impairments	400,000	200,000	300,000
Amortization of intangible assets	59,200,000	68,700,000	$ 77,500,000
Software and Software Development Costs
Indefinite-lived Intangible Assets [Line Items]
Net intangibles	30,200,000	28,100,000
Capitalized computer software, additions	17,800,000	15,700,000
Software and Software Development Costs | Internal Cost
Indefinite-lived Intangible Assets [Line Items]
Capitalized computer software, additions	15,400,000	12,800,000
Software and Software Development Costs | External Cost
Indefinite-lived Intangible Assets [Line Items]
Capitalized computer software, additions	2,400,000	2,900,000
Technology
Indefinite-lived Intangible Assets [Line Items]
Net intangibles	32,198,000	$ 29,890,000
Finite lived intangible assets, not yet in service	$ 6,100,000