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Shareholders' Equity - Additional Information (Details)
$ / shares in Units, $ in Millions
 1 Months Ended 12 Months Ended
Jul. 31, 2022
USD ($)
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2022
£ / shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
£ / shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
$ / shares
Class of Stock [Line Items]                
Cancellation of deferred shares   $ 0.1            
Purchase of treasury shares   11.1 $ 6.4          
Number of treasury shares held (in shares) | shares         1,277,766   575,618  
Cancellation of treasury shares     0.0          
Cost of treasury shares held         $ 20.4   $ 9.6  
Additional paid-in capital                
Class of Stock [Line Items]                
Cancellation of deferred shares   $ (149.8)            
Cancellation of treasury shares     $ 0.6          
June 2021 Share Buy-Back Program                
Class of Stock [Line Items]                
Number of ordinary shares repurchased (in shares) | shares     297,678          
Purchase of treasury shares     $ 6.4          
Shares utilized (in shares) | shares     16,395          
Utilization of treasury shares     $ 0.1          
Number of treasury shares held (in shares) | shares             225,283  
Number of treasury shares cancelled (in shares) | shares     56,000          
Cancellation of treasury shares     $ 0.7          
2022 Share Buy-Back Program                
Class of Stock [Line Items]                
Number of ordinary shares repurchased (in shares) | shares   711,572            
Purchase of treasury shares   $ 11.1            
Shares utilized (in shares) | shares   9,424            
Utilization of treasury shares   $ 0.3            
Number of treasury shares held (in shares) | shares         702,148      
Ordinary shares                
Class of Stock [Line Items]                
Common stock, par value (in GBP per share) | (per share)       £ 0.50 $ 0.50 £ 0.50 $ 0.50 $ 0.50
Common stock, shares, outstanding, actively traded (in shares) | shares         26,934,973   27,529,824  
Ordinary shares | Own shares held by ESOP                
Class of Stock [Line Items]                
Common stock, par value (in GBP per share) | £ / shares       0.50   0.50    
Number of ESOP shares (in shares) | shares         721,261   838,558  
Deferred shares                
Class of Stock [Line Items]                
Common stock, par value (in GBP per share) | £ / shares       £ 0.0001   £ 0.0001    
Cancellation of deferred shares $ 0.1              
Number of ESOP shares (in shares) | shares         0   15,977,968,688  
Deferred shares | Additional paid-in capital                
Class of Stock [Line Items]                
Cancellation of deferred shares $ 149.8