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Income Taxes - Additional Information (Details) $ in Millions | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
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Operating Loss Carryforwards [Line Items] |  |  |
Unrecognized tax benefits that would impact effective tax rate | $ 0.1 | $ 0.3 | $ 0.4
Undistributed earnings of foreign subsidiaries | 92.6 | 83.1 | 70.3
Deferred tax liability not recognized, amount of unrecognized deferred tax liability, undistributed earnings of foreign subsidiaries | $ 1.3 | 1.2 | 1.0
Deferred tax assets (liabilities) expected to unwind | 0.25 |  |
Tax losses and tax credit carryforward, amount | $ 75.8 | 74.8 | 106.3
Tax losses and tax credit carryforward, valuation allowance | 17.0 | 16.5 | 18.0
Tax losses and tax credits carryforward, expire Between 2023 and 2033 |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 8.0 |  |
Tax losses and tax credits carryforward, indefinite |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 66.1 |  |
U.K. |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 16.5 | 15.6 | 43.0
Tax losses and tax credit carryforward, valuation allowance | 3.9 | 3.5 | 4.1
Non-U.K. |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 59.3 | 59.2 | 63.3
Tax losses and tax credit carryforward, valuation allowance | $ 13.1 | $ 13.0 | $ 13.9

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