Restructuring - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring charge	$ 0.8	$ 7.6	$ 18.8
Anticipated future cash payments	$ 1.2	$ 5.4	$ 9.0	$ 14.2