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Reinsurance - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
SEC Schedule, 12-17, Insurance Companies, Reinsurance [Line Items]      
Reinsurance Recoverable, Allowance for Credit Loss $ 3.7 $ 3.7 $ 3.3
Reinsurance Recoverable, Allowance for Credit Loss, Period Increase (Decrease) $ 0.0 $ 0.4 $ 0.5