Share-based Compensation - Stock Options Narratives (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Recognition period for unrecognized share based compensation (in years)	2 years 1 month 6 days
Share based compensation not yet recognized	$ 15.4
Intrinsic value of shares exercised	2.3	$ 3.5	$ 10.3
Fair value of shares vested	$ 2.1	$ 2.3	$ 2.6
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award
Award vesting period	4 years
Contractual term	10 years
Recognition period for unrecognized share based compensation (in years)	2 years 3 months 18 days
Share based compensation not yet recognized	$ 2.3