Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Line Items]
Permanently reinvested earnings of non-U.S. subsidiaries	$ 54,900,000	$ 45,300,000
Unrecognized deferred income tax liabilities on currently permanently reinvested earnings	8,200,000	6,800,000
Foreign earnings repatriated	134,100,000	199,900,000	$ 116,000,000
Incremental income tax expense (benefit)	0	0	$ 0
Net operating loss carryforwards, foreign	300,000
Net operating loss carryforwards, state and local	600,000
Foreign tax credit and other carryforwards	14,800,000	15,000,000.0
Foreign tax credit carryover for U.S. federal purposes	10,600,000
Foreign
Income Tax Disclosure [Line Items]
Foreign tax credit and other carryforwards	3,100,000
Other current assets
Income Tax Disclosure [Line Items]
Prepaid taxes	$ 14,300,000	$ 15,100,000