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Retirement Plans - Schedule of Plan Assets Fair Value Hierarchy (Details) - USD ($) $ in Thousands		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		$ 5,100	$ 4,900
United Kingdom Subsidiary | UK Plan
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		223,077	210,284	$ 356,532
United Kingdom Subsidiary | UK Plan | Total plan assets in fair value hierarchy
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		117,235	89,446
United Kingdom Subsidiary | UK Plan | Total plan assets in fair value hierarchy | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		8,797	19,829
United Kingdom Subsidiary | UK Plan | Total plan assets in fair value hierarchy | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		108,438	69,617
United Kingdom Subsidiary | UK Plan | Total plan assets in fair value hierarchy | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Corporate debt funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		44,504	23,998
United Kingdom Subsidiary | UK Plan | Corporate debt funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Corporate debt funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		44,504	23,998
United Kingdom Subsidiary | UK Plan | Corporate debt funds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Government bond funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		63,934	45,619
United Kingdom Subsidiary | UK Plan | Government bond funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Government bond funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		63,934	45,619
United Kingdom Subsidiary | UK Plan | Government bond funds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Cash and cash equivalents
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		8,797	19,829
United Kingdom Subsidiary | UK Plan | Cash and cash equivalents | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		8,797	19,829
United Kingdom Subsidiary | UK Plan | Cash and cash equivalents | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Cash and cash equivalents | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0	0
United Kingdom Subsidiary | UK Plan | Debt funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	[1]	$ 85,786	$ 99,990
Fair value of plan assets by hierarchy and NAV [Extensible Enumeration]		Fair Value Measured at Net Asset Value Per Share [Member]	Fair Value Measured at Net Asset Value Per Share [Member]
United Kingdom Subsidiary | UK Plan | Real estate funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	[1]	$ 20,056	$ 20,848
Fair value of plan assets by hierarchy and NAV [Extensible Enumeration]		Fair Value Measured at Net Asset Value Per Share [Member]	Fair Value Measured at Net Asset Value Per Share [Member]
[1] Certain investments measured using net asset value (“NAV”) as a practical expedient have not been classified in the fair value hierarchy. The fair value amounts presented in the table are intended to permit reconciliation of the fair value hierarchy to the total fair value of plan assets. NAV is determined by the respective fund manager based on the fair value of the underlying assets held by the fund, less its liabilities, divided by the number of units outstanding.

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Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee.

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Indicates level within fair value hierarchy and fair value measured at net asset value per share as practical expedient, of defined benefit plan asset.

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