Defined Contribution Plans (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
United States
Defined Contribution Plan Disclosure [Line Items]
Defined contribution plan, employer matching contribution, percent of match	50.00%	50.00%	50.00%
Defined contribution plan, employer matching contribution, percent of employees' gross pay	6.00%	6.00%	6.00%
Defined contribution plan, employment period prior to enrollment	6 months
Defined contribution plan, employer matching contribution, enrollment percentage	100.00%
Defined contribution plan, employer contribution amount	$ 2.1	$ 2.0	$ 1.8
Foreign Plan
Defined Contribution Plan Disclosure [Line Items]
Defined contribution plan, employer contribution amount	$ 1.2	$ 1.3	$ 0.4

Defined contribution plan, employer matching contribution, enrollment percentage.

No definition available.

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Data Type:	dtr-types1:percentItemType
Balance Type:	na
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- Definition

Minimum period the individual is required to perform services to be fully vested under the deferred compensation arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 710
-SubTopic 10
-Section 55
-Paragraph 7
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482943/710-10-55-7

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

+ Details

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Balance Type:	na
Period Type:	duration

- Definition

Amount of cost for defined contribution plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 70
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480794/715-70-50-1

+ Details

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

+ Details

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Balance Type:	na
Period Type:	duration

- Definition

Percentage of employees' gross pay for which the employer contributes a matching contribution to a defined contribution plan.

+ References

No definition available.

+ Details

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Period Type:	duration

- Definition

Percentage employer matches of the employee's percentage contribution matched.

+ References

No definition available.

+ Details

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- Details

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- Details

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