Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Amortization of research and experimental expenditures	$ 24.7	$ 18.4
Valuation allowance, deferred tax asset, increase, amount	0.6
Undistributed earnings of foreign subsidiaries	63.3
Unrecognized tax benefits	13.0	12.0	$ 10.8	$ 9.7
Unrecognized tax benefits, if recognized that would effect the effective rate	15.7	$ 13.7
United Kingdom Subsidiary
Operating Loss Carryforwards [Line Items]
Valuation allowance, deferred tax asset, increase, amount	1.2
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	222.1
Foreign Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	26.5
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 0.0