Goodwill and Other Intangible Assets - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Goodwill And Intangible Assets [Line Items]
Amortization expense of intangible asset	$ 16.4	$ 14.6	$ 13.1
Minimum
Goodwill And Intangible Assets [Line Items]
Estimated useful life of intangible assets (in years)	2 years
Maximum
Goodwill And Intangible Assets [Line Items]
Estimated useful life of intangible assets (in years)	23 years