Leases - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Weighted-average remaining lease term for lease portfolio (in years)	7 years 7 months 6 days	8 years 4 months 24 days
Weighted average discount rate (as a percent)	5.20%	5.00%
Lease expense	$ 16.2	$ 16.7	$ 17.8
Cash payments for operating leases	$ 17.1	$ 17.6	$ 18.5
Maximum
Lessee, Lease, Description [Line Items]
Remaining lease term	15 years