Basis of Presentation and Accounting Policies - Capitalized Software and Hardware - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment
Amortization expense	$ 3.3	$ 3.8	$ 4.5
Prepaid Expenses and Other Current Assets
Property, Plant and Equipment
Capitalized internal use software and hardware	$ 3.7	$ 4.8
Minimum
Property, Plant and Equipment
Amortization period	1 year
Maximum
Property, Plant and Equipment
Amortization period	5 years