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Summary of Significant Accounting Policies - Deferred Policy Acquisition Costs (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Deferred Policy Acquisition Costs |  |  |
Policy acquisition costs deferred | $ 2.6 | $ 3.6 | $ 5.8
Other Underwriting and Operating Expenses |  |  |
Deferred Policy Acquisition Costs |  |  |
Amortization of deferred policy acquisition costs | $ 4.4 | $ 5.8 | $ 10.6

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