Leases - Additional information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Term of renewal	5 years
Term of option to terminate	1 year
Operating lease costs recognized	$ 24.5	$ 25.9	$ 24.3
Short-term lease costs	3.5	1.7	$ 1.8
Amortization of the right-of-use asset for finance lease	0.8	0.1
Interest expense, finance lease liability	$ 2.1	$ 0.2
Minimum
Lessee, Lease, Description [Line Items]
Remaining lease term	1 year
Maximum
Lessee, Lease, Description [Line Items]
Remaining lease term	35 years