Schedule II - Condensed Financial Information of Registrant (Parent Company) - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Condensed Cash Flow Statements Captions [Line Items]
Interest paid	$ 7.7	$ 7.3	$ 7.3
Parent Company
Condensed Cash Flow Statements Captions [Line Items]
Interest paid	$ 7.3	$ 7.3	$ 7.3

Amount of cash paid for interest, including, but not limited to, capitalized interest and payment to settle zero-coupon bond attributable to accreted interest of debt discount and debt instrument with insignificant coupon interest rate in relation to effective interest rate of borrowing attributable to accreted interest of debt discount; classified as operating and investing activities.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 50
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=126999549&loc=d3e4297-108586

Name:	us-gaap_InterestPaid
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration