Derivatives - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 23, 2019	Aug. 05, 2016
Revenue and cost of sales
Derivative [Line Items]
Amount expected to be reclassified from accumulated other comprehensive income (loss) to earnings in next twelve months, gross	$ 0.9
Amount expected to be reclassified from accumulated other comprehensive income to earnings (loss) in next twelve months, net of tax	0.7
Interest expense
Derivative [Line Items]
Amount expected to be reclassified from accumulated other comprehensive income (loss) to earnings in next twelve months, gross	1.5
Amount expected to be reclassified from accumulated other comprehensive income to earnings (loss) in next twelve months, net of tax	1.1
Interest rate swap | Designated as hedging instrument
Derivative [Line Items]
Fair value of derivative liability	(1.5)	$ (3.4)
Deferred tax asset used to offset fair value of interest rate swap	$ (0.4)	$ (0.8)
Interest rate swap | Wells Fargo 1.12% one-month LIBOR | Designated as hedging instrument
Derivative [Line Items]
Notional amount of derivative				$ 175.0
Interest rate swap | Wells Fargo 1.12% one-month LIBOR | LIBOR Swap Rate | Designated as hedging instrument
Derivative [Line Items]
Fixed rate				1.12%
Interest rate swap | Wells Fargo 1.71% one-month LIBOR | Designated as hedging instrument
Derivative [Line Items]
Notional amount of derivative			$ 75.0
Fixed rate			1.64%
Investment, Variable Interest Rate, Type [Extensible Enumeration]			us-gaap:SecuredOvernightFinancingRateSofrOvernightIndexSwapRateMember
Foreign currency forward contracts
Derivative [Line Items]
Maturity of derivative contract (up to)	2 years