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Retirement Benefit Plans - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2018
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |  |
Total cost of benefits | $ 16,600,000 | $ 11,600,000 | $ 14,800,000 |
Plan assets, amount |  | 0 |  |
Matching contribution, percent | 3.00% |  |  |
Minimum service period required to be eligible | 1 year |  |  |
Cost | $ 10,500,000 | 6,000,000 | 8,700,000 |
UNITED STATES |  |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |  |
Plan assets, amount | 0 | 0 | 0 |
Expected future employer contributions | 100,000 |  |  |
Non-U.S. Plan | Pension Plan |  |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |  |
Plan assets, amount | 12,700,000 | $ 11,300,000 | $ 12,900,000 |
Expected future employer contributions | 200,000 |  |  |
U.K. Pension Plan | Non-U.S. Plan | Pension Plan |  |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |  |
Curtailment gain |  |  |  | $ 100,000
Retiree Plan | UNITED STATES |  |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |  |
Expected future employer contributions | $ 600,000 |  |  |

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