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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |
Deferred tax liabilities, tax benefit recognized in OCI | $ 4.5 | $ 4.2 |
Deferred tax provision recognized in OCI |  |  | $ (4.3)
Effective tax rate | 21.50% | 27.50% | 22.80%
Reduction of deferred income taxes | $ 7.0 |  |
Deferred tax liabilities decrease related to foreign currency | 6.6 |  |
Reduction from lapse of statute of limitation | 0.0 | $ 0.1 | $ 0.0
Net operation loss, foreign | 35.3 |  |
Net operation loss foreign expected to expire | 0.1 |  |
Net operation loss foreign with no expiration date | 35.2 |  |
Cash and cash equivalents held by foreign subsidiaries | 71.7 |  |
Positive undistributed earnings to be reinvested (less than) | 84.5 |  |
Unrecognized tax benefits, penalties and interest | $ 0.9 | $ 0.4 | $ 0.1
Foreign | Her Majesty's Revenue and Customs (HMRC) |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Effective tax rate | 6.00% |  |

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