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Summary of Significant Accounting Policies - Deferred Policy Acquisition Costs (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Deferred Policy Acquisition Costs      
Policy acquisition costs deferred $ 3.6 $ 5.8 $ 10.1
Other Underwriting and Operating Expenses      
Deferred Policy Acquisition Costs      
Amortization of deferred policy acquisition costs $ 5.8 $ 10.6 $ 8.8