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Retirement Plans - Assumptions (Details)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
U.K Plan    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 4.93% 1.82%
Discount rate used to compute periodic benefit cost 1.82% 1.60%
Expected long-term rates of return on plans' assets 2.40% 2.10%
U.S.    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 5.13% 2.76%
Discount rate used to compute periodic benefit cost 2.77% 2.38%
Expected long-term rates of return on plans' assets 4.80% 4.70%