Goodwill and Intangible Assets - Additional Information (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) ReportingUnit	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Goodwill [Roll Forward]
Impairment of goodwill and indefinite-lived intangible assets	$ 0	$ 0	$ 0
Number of reporting units | ReportingUnit	6
Amortization of Intangible Assets	$ 6,600,000	$ 6,200,000	$ 5,200,000
Estimated amortization expense, 2024	5,400,000
Estimated amortization expense, 2025	3,900,000
Estimated amortization expense, 2026	3,200,000
Estimated amortization expense, 2027	2,900,000
Estimated amortization expense, 2028	$ 2,700,000