Share-Based Compensation - Summary (Details) - USD ($) shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation
Share-based compensation expense	$ 15.8	$ 15.8	$ 19.2
Common shares available for issuance	0.4
Restricted shares | General and administrative and research and engineering expenses
Share-Based Compensation
Share-based compensation expense	$ 15.8	$ 15.8	$ 19.1
Performance based restricted stock units
Share-Based Compensation
Performance period	1 year
Vesting period	3 years
Employee Stock Option [Member]
Share-Based Compensation
Vesting period	10 years