Employee Benefit Plans - 401K Contribution and Supplemental Compensation agreement (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Benefit Plans
Base contribution as a percentage of employee gross pay (as a percent)	2.00%
Percentage of eligible compensation, matched 100% by employer	4.00%
Company's matching contributions under certain 401(k) savings plans	$ 8.1	$ 7.6	$ 6.6
EMEA pension plans
Employee Benefit Plans
Charges for pension plans	$ 3.3	$ 4.3	$ 4.6