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Notes Payable - Additional Information (Details)
1 Months Ended 12 Months Ended
Jun. 28, 2022
USD ($)
Aug. 01, 2019
USD ($)
Mar. 31, 2021
USD ($)
Dec. 31, 2023
Dec. 31, 2022
USD ($)
Mar. 29, 2021
USD ($)
Aug. 01, 2019
GBP (£)
Mar. 30, 2016
USD ($)
Debt Instrument [Line Items]                
Minimum Repayment of Aggregate Principal Amount of Senior Notes (as a percent)       5.00%        
Outstanding Principal Amount of Senior Notes (as a percent)       100.00%        
Series B Senior Notes [Member] | Special Charges [Member]                
Debt Instrument [Line Items]                
Gain (Loss) on Extinguishment of Debt         $ 456,000      
Parent Company [Member] | Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount               $ 170,000,000
Long-term Debt, Weighted Average Life   12 years            
Long-term Debt, Weighted Average Interest Rate, at Point in Time (as a percent)   4.26%         4.26%  
Parent Company [Member] | Senior Notes [Member] | United States of America, Dollars                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount   $ 175,000,000            
Parent Company [Member] | Senior Notes [Member] | United Kingdom, Pounds                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount | £             £ 25,000,000  
Parent Company [Member] | Series A Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount               $ 38,000,000
Debt Instrument, Interest Rate, Stated Percentage               4.88%
Repayments of Senior Debt     $ 38,000,000          
Parent Company [Member] | Series B Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount               $ 67,000,000
Debt Instrument, Interest Rate, Stated Percentage               5.23%
Extinguishment of Debt, Amount $ 67,000,000              
Parent Company [Member] | Series C Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount               $ 48,000,000
Debt Instrument, Interest Rate, Stated Percentage               5.48%
Parent Company [Member] | Series D Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount               $ 17,000,000
Debt Instrument, Interest Rate, Stated Percentage               5.58%
Parent Company [Member] | Series E Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount   $ 75,000,000            
Debt Instrument, Interest Rate, Stated Percentage   4.34%         4.34%  
Parent Company [Member] | Series F Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount   $ 60,000,000            
Debt Instrument, Interest Rate, Stated Percentage   4.44%         4.44%  
Parent Company [Member] | Series G Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount   $ 40,000,000            
Debt Instrument, Interest Rate, Stated Percentage   4.54%         4.54%  
Parent Company [Member] | Series H Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount | £             £ 25,000,000  
Debt Instrument, Interest Rate, Stated Percentage   3.33%         3.33%  
Parent Company [Member] | Series I Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount           $ 38,000,000    
Debt Instrument, Interest Rate, Stated Percentage           1.97%    
Parent Company [Member] | Series J Senior Notes [Member]                
Debt Instrument [Line Items]                
Debt Instrument, Aggregate Principal Amount $ 67,000,000              
Debt Instrument, Interest Rate, Stated Percentage 4.61%