Basis of Presentation and Accounting Policies - Capitalized Software and Hardware - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment
Amortization expense	$ 3.8	$ 4.5	$ 3.7
Prepaid Expenses and Other Current Assets
Property, Plant and Equipment
Capitalized internal use software and hardware	$ 4.8	$ 5.6
Minimum
Property, Plant and Equipment
Amortization period	1 year
Maximum
Property, Plant and Equipment
Amortization period	5 years