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Retirement and Other Postretirement Benefit Plans - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
U.S. retirement saving plan |  |  |
Expected contribution in 2024 | $ 1.6 |  |
Employer contribution | $ 1.6 | $ 1.5 | $ 2.1
Total plan assets invested in active corporate bond funds (as a percent) | 100.00% | 100.00% |
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss |  |  |
Amounts unrelated to service costs, benefit | $ 2.9 |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) Excluding Service Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] | Comprehensive Income (Loss), Net of Tax, Attributable to Parent |  |
Amounts recognized in Accumulated Other Comprehensive Loss: |  |  |
Fair value of plan assets | $ 4.6 | $ 122.1 |
Impact of one-percentage-point increase and a one-percentage-point decrease in the discount rate on retirement obligation as of December 31, 2019 |  |  |
Assumed annual rate of increase in the per capita cost of covered health care benefits for medical care (as a percent) | 6.75% |  |
Ultimate annual rate of increase in the per capita cost of covered health care benefits for medical care (as a percent) | 4.75% |  |
U.S. Retirement Savings Plan |  |  |
U.S. retirement saving plan |  |  |
Employer contribution as a percentage of employee contribution (as a percent) | 50.00% |  |
Employer matching contribution as a percentage of employee's annual compensation (as a percent) | 3.00% |  |
Employer matching contribution as a targeted percentage of employee's annual compensation (as a percent) | 3.00% |  |
U.S. Retirement Savings Plan | Maximum [Member] |  |  |
U.S. retirement saving plan |  |  |
Employer matching contribution as a percentage of employee's annual compensation (as a percent) | 4.50% |  |
Additional employer contribution as a percentage of eligible income depending on employee's age (as a percent) | 4.00% |  |
Maximum employer contribution to individual 401(k) retirement saving account, after additional contribution (as a percent) | 7.00% |  |
Percentage of employee's annual compensation allowed as contribution to individual 401(k) retirement saving account (as a percent) | 75.00% |  |
U.S. Retirement Savings Plan | Minimum [Member] |  |  |
U.S. retirement saving plan |  |  |
Additional employer contribution as a percentage of eligible income depending on employee's age (as a percent) | 2.00% |  |
Maximum employer contribution to individual 401(k) retirement saving account, after additional contribution (as a percent) | 5.00% |  |
UK Defined Contribution Pension Plan |  |  |
U.S. retirement saving plan |  |  |
Percentage of pensionable salary that eligible employees can elect to contribute under the first option | 3.00% |  |
Percentage of pensionable salary that eligible employees can elect to contribute under the second option | 5.00% |  |
Percentage of pensionable salary that eligible employees can elect to contribute under the third option | 7.00% |  |
Company's contribution under the first option (as a percent) | 5.00% |  |
Company's contribution under the second option (as a percent) | 9.00% |  |
Company's contribution under the third option (as a percent) | 13.00% |  |
Collective-Bargaining Arrangement |  |  |
U.S. retirement saving plan |  |  |
Minimum percentage of the Plan's total contributions contributed by the entity | 5.00% | 5.00% | 5.00%
Multiemployer Plans, Collective-Bargaining Arrangement, Description | The collective bargaining agreement was renewed on November 20, 2020 retroactively to October 1, 2020 for a five-year term. |  |
European Plans |  |  |
Amounts recognized in Accumulated Other Comprehensive Loss: |  |  |
Total accumulated benefit obligation | $ 13.4 | $ 16.3 |
Accumulated benefit obligation in excess of plan assets | $ 8.8 | 12.2 |
United Kingdom defined benefit plan (the U.K. Plan) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Long term trend rate of improvement | 1.25% |  |
Description of long term trend rate of improvement | The mortality table used for the U.S. plans is based on the Pri-2012 White Collar Healthy Annuitant Mortality Table with Improvement Scale MP-2021 and for the U.K. Plan the S2PXA base table with future improvements in line with the CMI 2022 projection model with a long-term trend rate of 1.25% per annum. |  |
Amounts recognized in Accumulated Other Comprehensive Loss: |  |  |
Accumulated benefit obligation in excess of plan assets | $ 1.9 |  |
Impact of one-percentage-point increase and a one-percentage-point decrease in the discount rate on retirement obligation as of December 31, 2019 |  |  |
Gain (loss) on investments | 1.9 |  |
Pre-tax non-cash settlement charge | $ 70.5 |  |
Defined Benefit Retirement Plans |  |  |
U.S. retirement saving plan |  |  |
Employer contribution as a percentage of employee contribution (as a percent) | 50.00% |  |
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss |  |  |
Amounts unrelated to service costs, benefit |  | 2.4 | $ 0.1
Impact of one-percentage-point increase and a one-percentage-point decrease in the discount rate on retirement obligation as of December 31, 2019 |  |  |
Gain (loss) on investments | $ 1.9 |  |
Pre-tax non-cash settlement charge | $ 70.5 |  |
Defined Benefit Retirement Plans | Maximum [Member] |  |  |
U.S. retirement saving plan |  |  |
Employer matching contribution as a percentage of employee's annual compensation (as a percent) | 6.00% |  |
Defined Benefit Retirement Plans | U.S. Plans |  |  |
Amounts recognized on the balance sheet: |  |  |
Expected employer contribution in next fiscal year | $ 0.7 |  |
Amounts recognized in Accumulated Other Comprehensive Loss: |  |  |
Total accumulated benefit obligation | 17.8 | 19.8 |
Defined Benefit Retirement Plans | European Plans |  |  |
Amounts recognized in Accumulated Other Comprehensive Loss: |  |  |
Fair value of plan assets | 4.6 | $ 122.1 | $ 231.4
U.S. Postretirement Plans |  |  |
U.S. retirement saving plan |  |  |
Expected contribution in 2024 | $ 0.2 |  |

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- Definition For defined benefit plans, this element represents the ultimate annual rate of increase in the per capita cost of covered health care benefits for medical care under defined benefit plans. + References No definition available. + Details
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- Definition Percentage of employee gross pay, by the terms of the plan that the employer may contribute to a defined contribution plan under the first option. + References No definition available. + Details
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- Definition Percentage of employee gross pay, by the terms of the plan that the employer may contribute to a defined contribution plan under the second option. + References No definition available. + Details
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- Definition Percentage of employees' gross pay for which the employer will contribute a matching contribution to the defined contribution plan under the third option. + References No definition available. + Details
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- Definition Percentage of employees' gross pay for which the employer will contribute a matching contribution to the defined contribution plan under the second option. + References No definition available. + Details
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- Definition Defined contribution plan employer matching contribution targeted percent. + References No definition available. + Details
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- Definition For defined contribution plans, this element represents the maximum employer contribution to individual 401(k) retirement saving account, low end of range. + References No definition available. + Details
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- Definition Represents the minimum percentage of contributions made under a collective bargaining arrangement to all contributions required of an employer related to a pension or postretirement benefit plan to which two or more unrelated employers contribute, where assets contributed by one participating employer may be used to provide benefits to employees of other participating employers. + References No definition available. + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of contribution expected to be received by defined benefit plan from employer in next fiscal year following current fiscal year. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 18 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-18 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 6: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 7: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Ultimate trend rate for health care cost for defined benefit postretirement plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (l) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Percentage of actual investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one plan. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Description of the significant collective-bargaining arrangements within the range of expiration dates for collective-bargaining arrangements requiring contributions to a multiemployer plan as well as other information to help investors understand the significance of the collective-bargaining agreements and when they expire. A multiemployer plan is a pension or postretirement benefit plan to which two or more unrelated employers contribute where assets contributed by one participating employer may be used to provide benefits to employees of other participating employers. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 5 -Subparagraph (d) -SubTopic 80 -Topic 715 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480576/715-80-50-5 + Details
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