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Summary of Significant Accounting Policies - Cash, Cash Equivalents and Restricted Cash (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
£ / $
Dec. 31, 2022
USD ($)
£ / $
Cash and Cash Equivalents [Line Items]    
Restricted cash $ 0.3 $ 0.3
Average foreign currency exchange rate, translation | £ / $ 0.8032 0.8108
Increase of average foreign currency exchange rate, translation | £ / $ 0.05  
GBP    
Cash and Cash Equivalents [Line Items]    
Effect of exchange rate on revenue during the year $ 2.8  
Effect of exchange rate on operating income during the year 0.7  
Effect of exchange on revenue per 0.05 increase in foreign exchange rate 7.9  
Effect of exchange on operating income per 0.05 increase in foreign exchange rate $ 0.7