Restructuring - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended			15 Months Ended	21 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2023	Dec. 31, 2021
Restructuring Cost And Reserve [Line Items]
Payments for restructuring	$ 5.0	$ 0.4
2022 Plan
Restructuring Cost And Reserve [Line Items]
Total amount expected to be incurred	8.0			$ 8.0
Restructuring costs	5.0	2.2		7.2
Payments for restructuring	$ 5.5	$ 0.5		$ 5.4
2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring costs					$ 6.7
Payments for restructuring			$ 0.6