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Income Taxes - Additional Information (Details)
$ in Millions
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
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