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Retirement Plans - Plan Asset Allocation (Details)
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 100.00% 100.00%
U.K Plan | Equity securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 0.00% 0.00%
U.K Plan | Fixed income securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 71.90% 66.20%
U.K Plan | Alternative strategies    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 26.70% 23.10%
U.K Plan | Cash, cash equivalents and short-term investment funds    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 1.40% 10.70%
U.S. | Equity securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 13.20% 16.90%
U.S. | Fixed income securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 73.50% 65.50%
U.S. | Alternative strategies    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 7.60% 5.70%
U.S. | Cash, cash equivalents and short-term investment funds    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 5.70% 11.90%