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Shareholders' Equity - Additional Information (Details)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2023
£ / shares
Dec. 31, 2022
£ / shares
Class of Stock [Line Items]          
Purchase of treasury shares | $ $ 2.7 $ 11.1 $ 6.4    
Number of treasury shares held (in shares) 1,473,571 1,277,766      
Cost of treasury shares held | $ $ 22.9 $ 20.4      
2022 Share Buy-Back Program          
Class of Stock [Line Items]          
Number of ordinary shares repurchased (in shares)   711,572      
Purchase of treasury shares | $   $ 11.1      
Shares utilized (in shares)   9,424      
Utilization of treasury shares | $   $ 0.3      
Number of treasury shares held (in shares)   702,148      
2023 Share Buy-Back Program          
Class of Stock [Line Items]          
Number of ordinary shares repurchased (in shares) 210,000        
Purchase of treasury shares | $ $ 2.7        
Shares utilized (in shares) 14,195        
Utilization of treasury shares | $ $ 0.2        
Number of treasury shares held (in shares) 185,805        
Ordinary shares          
Class of Stock [Line Items]          
Common stock, par value (in GBP per share) | (per share) $ 0.50 $ 0.50 $ 0.50 £ 0.50 £ 0.50
Common stock, shares, outstanding, actively traded (in shares) 26,834,628 26,934,973      
Ordinary shares | Own shares held by ESOP          
Class of Stock [Line Items]          
Common stock, par value (in GBP per share) | £ / shares       £ 0.50 £ 0.50
Number of ESOP shares (in shares) 635,801 721,261