Stock-Based Compensation - Fair Value Assumptions (Details) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) item $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares
Additional information
Stock-based compensation expense	$ 12.9	$ 10.5	$ 10.6
Stock Options
Additional information
Vesting period	3 years
Restricted Stock Units (RSUs)
Other information
Compensation expense yet to be recognized	$ 7.5
Weighted-average period over which compensation cost will be recognized	2 years 7 months 6 days
Shares
Unvested at beginning of year (in shares) | shares	104
Granted (in shares) | shares	72
Vested (in shares) | shares	(63)
Unvested at end of year (in shares) | shares	113	104
Weighted Average Grant Date Fair Value
Unvested at beginning of year (in dollars per share) | $ / shares	$ 76.39
Granted (in dollars per share) | $ / shares	164.47	$ 90.17	$ 76.73
Vested (in dollars per share) | $ / shares	79.32
Unvested at end of year (in dollars per share) | $ / shares	130.83	76.39
Additional information
Weighted-average fair value (in dollars per share) | $ / shares	$ 164.47	$ 90.17	$ 76.73
Aggregate intrinsic value of restricted stock vested	$ 9.3	$ 6.6	$ 5.5
Performance Stock Units
Other information
Compensation expense yet to be recognized	$ 2.1
Weighted-average period over which compensation cost will be recognized	1 year 4 months 24 days
Additional information
Fair value of shares vested	$ 4.5	3.5	2.2
Vesting period	3 years
Types of performance units | item	2
Percentage of units measured on stock price relative to peer group	50.00%
Percentage of units measured on stock price based on pre determined EPS	50.00%
Period for which shareholder return is compared with peer group for units determined by EPS performance	3 years
Calculated fair market value	$ 15.0
Value of PSUs granted	5.4
Stock-based compensation expense	$ 6.6	$ 5.3	$ 5.7
Performance Stock Units | Minimum
Additional information
Performance measures for dollar denominated award granted	0
Performance Stock Units | Maximum
Additional information
Performance measures for dollar denominated award granted	2.0
2023 PSU Grant
Fair value assumptions:
Risk-free interest rate	4.20%
Dividend yield	0.50%
Volatility	35.00%
Look-back period (in years)	2 years
2022 PSU Grant
Fair value assumptions:
Risk-free interest rate	4.70%	4.40%
Dividend yield	0.50%	0.50%
Volatility	35.10%	33.50%
Look-back period (in years)	1 year	2 years
2021 PSU Grant
Fair value assumptions:
Risk-free interest rate		4.70%	0.70%
Dividend yield		0.50%	0.50%
Volatility		35.10%	50.10%
Look-back period (in years)		1 year	2 years
2020 PSU Grant
Fair value assumptions:
Risk-free interest rate			0.40%
Dividend yield			0.50%
Volatility			31.80%
Look-back period (in years)			1 year