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Share Plans - Additional Information (Details) $ / shares in Units, $ in Millions | 1 Months Ended | 12 Months Ended |  |
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Jun. 30, 2023 shares | Mar. 31, 2023 shares | Jun. 30, 2022 shares | May 31, 2022 shares | Mar. 31, 2022 shares | Jun. 30, 2021 shares | Mar. 31, 2021 shares | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2023 £ / shares | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2022 £ / shares | Dec. 31, 2022 USD ($) $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loan outstanding from ESOP | $ |  |  |  |  |  |  |  |  |  |  |  | $ 0.5 |  | $ 0.5
Tax benefit realized for the tax deductions from option exercises | $ |  |  |  |  |  |  |  | $ 0.4 | $ 0.8 | $ 1.1 |  |  |  |
Weighted average fair value of options granted (in USD per share) | $ / shares |  |  |  |  |  |  |  | $ 14.73 | $ 16.45 | $ 20.56 |  |  |  |
Total intrinsic value of options exercised | $ |  |  |  |  |  |  |  | $ 1.7 | $ 2.9 | $ 5.8 |  |  |  |
Total unrecognized compensation cost related to share options | $ |  |  |  |  |  |  |  |  |  |  |  | $ 2.8 |  | $ 3.1
Options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Total unrecognized compensation cost related to share options, period for recognition |  |  |  |  |  |  |  | 2 years 4 months 24 days | 2 years 8 months 12 days |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  |  |  |  | 4 years |  |  |  |  |  |
Award expiration period |  |  |  |  |  |  |  | 6 years |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Tranche One |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting percentage |  |  |  |  |  |  |  | 25.00% |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Tranche Two |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting percentage |  |  |  |  |  |  |  | 25.00% |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Tranche Three |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting percentage |  |  |  |  |  |  |  | 25.00% |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Tranche Four |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting percentage |  |  |  |  |  |  |  | 25.00% |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Restricted Stock Units and Options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  | 4 years |  |  |  |  | 4 years |  |  |  |  |  |  |
Award granted during period (in shares) | shares |  | 127,000 |  | 19,000 | 130,000 |  | 110,000 |  |  |  |  |  |  |
Award expiration period |  | 2 years |  |  | 2 years |  | 2 years |  |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Restricted Stock Units and Options | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |
Long-Term Umbrella Incentive Plan (LTIP) | Restricted Stock Units and Options | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |
Non-Executive Directors Equity Incentive Plan (Director EIP) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  |  |  |  | 1 year |  |  |  |  |  |
Non-Executive Directors Equity Incentive Plan (Director EIP) | Restricted Stock Units and Options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period | 1 year |  | 1 year | 4 years |  | 1 year |  |  |  |  |  |  |  |
Award granted during period (in shares) | shares | 31,000 |  | 26,000 |  |  | 19,000 |  |  |  |  |  |  |  |
Non-Executive Directors Equity Incentive Plan (Director EIP) | Restricted Stock Units and Options | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award granted during period (in shares) | shares |  | 157,000 |  |  |  |  |  |  | 280,000 | 100,000 |  |  |  |
Long-Term Umbrella Incentive Plan- vesting immediately | Restricted Stock Units and Options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award granted during period (in shares) | shares |  |  |  | 15,000 |  |  |  |  |  |  |  |  |  |
Ordinary shares |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value (in GBP per share) | (per share) |  |  |  |  |  |  |  |  |  | $ 0.50 | £ 0.50 | $ 0.50 | £ 0.50 | $ 0.50
Ordinary shares | Employee Benefit Trust |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Market value of shares held by ESOP (in USD per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 8.94 |  | $ 13.72

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