Retirement Plans - Plan Asset Investment Allocation Percentage (Details) - Pension Plan	Dec. 31, 2023	Dec. 31, 2022
United States
Asset Category
Percentage of Plan assets	100.00%	100.00%
United States | Cash and cash equivalents
Asset Category
Percentage of Plan assets	4.00%	6.00%
United States | Cash and cash equivalents | Minimum
Asset Category
Target percentage of plan assets	0.00%
United States | Cash and cash equivalents | Maximum
Asset Category
Target percentage of plan assets	20.00%
United States | Total fixed income funds
Asset Category
Percentage of Plan assets	33.00%	7.00%
United States | Total fixed income funds | Minimum
Asset Category
Target percentage of plan assets	25.00%
United States | Total fixed income funds | Maximum
Asset Category
Target percentage of plan assets	50.00%
United States | Total mutual funds and equities
Asset Category
Percentage of Plan assets	63.00%	87.00%
United States | Total mutual funds and equities | Minimum
Asset Category
Target percentage of plan assets	35.00%
United States | Total mutual funds and equities | Maximum
Asset Category
Target percentage of plan assets	70.00%
United Kingdom | Cash and cash equivalents | Maximum
Asset Category
Target percentage of plan assets	100.00%
United Kingdom | Equity securities | Maximum
Asset Category
Target percentage of plan assets	100.00%
United Kingdom | Commercial property | Maximum
Asset Category
Target percentage of plan assets	50.00%
United Kingdom | UK Government securities | Maximum
Asset Category
Target percentage of plan assets	50.00%