Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Federal research and development tax credit carryforwards subject to limitation	$ 0.1
Liability for unrecognized tax benefits	21.5
Unrecognized tax benefits, accrued interest	$ 0.3	$ 0.2
Maximum
Income Tax Contingency [Line Items]
Foreign Tax Returns, Income Tax Examination, Period	10 years
UNITED KINGDOM
Income Tax Contingency [Line Items]
Deferred tax assets, foreign NOLs	$ 4.1
Federal
Income Tax Contingency [Line Items]
Federal research and development credit carry forwards	4.4
State
Income Tax Contingency [Line Items]
Deferred tax assets, state NOLs	89.5
State research and development credit carry forwards	$ 21.6