Income Taxes - Carryforwards (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax [Line Items]
Amount of total temporary difference related to the excess of financial reporting basis over tax basis in the non-U.S. subsidiaries on which U.S. federal income taxes are not provided	$ 198,800,000
Valuation allowance against deferred tax assets	62,800,000	$ 67,000,000.0
Interest and penalties included within uncertain tax positions	0
Uncertain tax positions at the end of the period	500,000	$ 500,000	$ 100,000	$ 100,000
State and Local Jurisdiction
Income Tax [Line Items]
Net operating loss carryforwards	123,500,000
Net operating loss carryforwards utilized	117,500,000
Valuation allowance against net operating loss carryforwards	700,000
Domestic Tax Authority
Income Tax [Line Items]
Valuation allowance against tax credit carryforwards	32,000,000
Domestic Tax Authority | Foreign Carryforward
Income Tax [Line Items]
Tax credit carryforwards	32,000,000
U.K. Tax Authority
Income Tax [Line Items]
Valuation allowance against deferred tax assets	19,600,000
U.K. Tax Authority | Capital loss carryforwards
Income Tax [Line Items]
Tax credit carryforwards	5,000,000
Germany Tax Authority
Income Tax [Line Items]
Net operating loss carryforwards	32,100,000
Valuation allowance against net operating losses and other deferred tax assets	9,900,000
Italy Tax Authority
Income Tax [Line Items]
Net operating loss carryforwards	100,000
Japan Tax Authority
Income Tax [Line Items]
Net operating loss carryforwards	400,000
Valuation allowance against net operating losses and other deferred tax assets	$ 500,000