Summary of Significant Accounting Policies - Software Costs (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Accounting Policies [Abstract] | |||
| Capitalized computer software | $ 21.4 | $ 14.7 | |
| Accumulated amortization | $ 22.6 | 17.5 | |
| Capitalized software costs, useful life | 5 years | ||
| Capitalized software costs, amortization expense | $ 4.4 | $ 4.7 | $ 5.3 |