Discontinued Operations - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2023	Dec. 31, 2022
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Indemnification asset released	$ 1.7
Indemnification asset		$ 4.6
Unrecognized tax benefits, income tax penalties and interest accrued	2.1	1.4	$ 1.6
Unrecognized tax benefit adjustment	5.6
Unrecognized tax benefit accrued interest	1.1	0.2	$ 0.1
Unrecognized tax benefit accrued penalty	1.1	$ 0.2
Unrecognized tax benefit from discontinued operations	1.8
Discontinued Operations
Income Statement Balance Sheet And Additional Disclosures By Disposal Groups Including Discontinued Operations [Line Items]
Unrecognized tax benefits, income tax penalties and interest accrued	$ 2.1