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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Contingency [Line Items] |  |  |
Undistributed earnings of foreign subsidiaries | $ 92.3 |  |
U.S. federal and state tax credits | 3.6 | $ 4.5 |
Net valuation allowance | 1.5 |  |
Unrecognized tax benefits | 3.9 | 4.5 |
Unrecognized tax benefits, ending balance | 4.2 | 4.7 | $ 6.4
Unrecognized tax benefits, income tax penalties and interest accrued | $ 0.6 | $ 0.7 |
Minimum |  |  |
Income Tax Contingency [Line Items] |  |  |
Open tax year, term (Year) | 3 years |  |
Maximum |  |  |
Income Tax Contingency [Line Items] |  |  |
Open tax year, term (Year) | 5 years |  |
U.S. Federal and State Tax Credits |  |  |
Income Tax Contingency [Line Items] |  |  |
U.S. federal and state tax credits | $ 2.9 |  |
Foreign Tax Authority |  |  |
Income Tax Contingency [Line Items] |  |  |
Non-U.S. cumulative tax losses | 30.7 |  |
Cumulative losses | 30.7 |  |
Limited carryforward period of losses | 0.1 |  |
Foreign Tax Authority | Netherlands Tax Credits |  |  |
Income Tax Contingency [Line Items] |  |  |
Netherlands tax credits | $ 1.2 |  |

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