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Revenues - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Segment Reporting Information [Line Items]      
Contract with Customer, Liability $ 79.9 $ 67.4  
Contract with Customer, Liability, Noncurrent 33.4 30.5  
Contract with Customer, Asset, Net 431.2 361.8  
Contract with Customer, Liability 113.3 97.9  
Offset of revised estimated variable consideration     $ 7.1
Other adjustments     2.1
Deferred Costs $ 76.0 58.2  
Cost to Obtain      
Segment Reporting Information [Line Items]      
Capitalized contract cost, amortization period 15 years    
Deferred Costs $ 23.0 19.8  
Capitalized Contract Cost, Amortization 5.2 3.8  
Cost to Fulfill      
Segment Reporting Information [Line Items]      
Deferred Costs 108.7 89.3  
Capitalized Contract Cost, Amortization 6.7 1.6  
Incentive and Profit-sharing Contingent Commissions      
Segment Reporting Information [Line Items]      
Deferred Revenue, Revenue Recognized 25.8 23.3 8.9
Variable consideration, Received 25.8 23.3 $ 18.1
2021 Acquisition      
Segment Reporting Information [Line Items]      
Contract with Customer, Asset, Net   5.5  
Contract with Customer, Liability   1.2  
2021 Acquisition | Cost to Fulfill      
Segment Reporting Information [Line Items]      
Capitalized Contract Cost, Amortization   $ 9.9  
2022 Acquisition      
Segment Reporting Information [Line Items]      
Contract with Customer, Asset, Net 12.0    
Contract with Customer, Liability 4.4    
2022 Acquisition | Cost to Fulfill      
Segment Reporting Information [Line Items]      
Capitalized Contract Cost, Amortization $ 14.1