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Retirement Plans - Assumptions (Details)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
U.K Plan    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 5.78% 4.93%
Discount rate used to compute periodic benefit cost 4.93% 1.82%
Expected long-term rates of return on plans' assets 5.40% 2.40%
U.S.    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 4.94% 5.13%
Discount rate used to compute periodic benefit cost 5.13% 2.77%
Expected long-term rates of return on plans' assets 6.20% 4.80%