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Retirement Benefit Plans - Narrative (Details) - USD ($)
 12 Months Ended
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