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Summary of Significant Accounting Policies - Deferred Policy Acquisition Costs (Details) - USD ($)
$ in Millions
 12 Months Ended
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