Leases - Additional information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Lease, cost	$ 30.8	$ 32.6	$ 30.7
Minimum
Lessee, Lease, Description [Line Items]
Lessee, operating lease, option to terminate or extend	1 year