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Retirement Benefit Plans - Weighted-average Asset Allocations by Asset Category (Details) - USD ($) | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount |  | $ 0 |
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
Non-U.S. Plan | Pension Plan | Level 1 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 0 | 0 |
Non-U.S. Plan | Pension Plan | Level 2 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 0 | 0 |
Non-U.S. Plan | Pension Plan | Level 3 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 12,700,000 | 11,300,000 |
Investment Account Held by Pension Plan | Non-U.S. Plan | Pension Plan |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 12,700,000 | 11,300,000 |
Investment Account Held by Pension Plan | Non-U.S. Plan | Pension Plan | Level 1 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 0 | 0 |
Investment Account Held by Pension Plan | Non-U.S. Plan | Pension Plan | Level 2 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | 0 | 0 |
Investment Account Held by Pension Plan | Non-U.S. Plan | Pension Plan | Level 3 |  |  |
Defined Benefit Plan, Plan Assets, Category [Line Items] |  |  |
Plan assets, amount | $ 12,700,000 | $ 11,300,000 |

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