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Shareholders' Equity - Schedule of Ordinary Share Capital (Details) $ / shares in Units, $ in Millions | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2023 £ / shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2022 £ / shares | Dec. 31, 2021 $ / shares
--- | --- | --- | --- | --- | ---
Class of Stock [Line Items] |  |  |  |  |
Common stock, shares authorized (in shares) | shares | 40,000,000 |  | 40,000,000 |  |
Ordinary shares, value, authorized | $ | $ 35.7 |  | $ 35.7 |  |
Common stock, shares issued (in shares) | shares | 28,944,000 |  | 28,944,000 |  |
Ordinary shares, value, issued | $ | $ 26.5 |  | $ 26.5 |  |
Ordinary shares |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Common stock, shares authorized (in shares) | shares | 40,000,000 |  | 40,000,000 |  |
Ordinary shares, value, authorized | $ | $ 35.7 |  | $ 35.7 |  |
Common stock, shares issued (in shares) | shares | 28,944,000 |  | 28,944,000 |  |
Ordinary shares, value, issued | $ | $ 26.5 |  | $ 26.5 |  |
Common stock, par value (in GBP per share) | (per share) | $ 0.50 | £ 0.50 | $ 0.50 | £ 0.50 | $ 0.50

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