Commitment and Contingencies - Supplemental Cash Flow Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Supplemental Cash Flow Information [Abstract]
Cash paid for operating lease liabilities	$ 19.9	$ 18.4	$ 15.6
Right-of-use assets obtained in exchange for operating lease liabilities	$ 19.2	$ 18.7	$ 26.3