Debt - Narrative (Details) $ in Millions	1 Months Ended	12 Months Ended
	Mar. 31, 2022 USD ($) fiscal_quarter instance	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2019 USD ($)	Feb. 28, 2022 USD ($)	Dec. 31, 2013	Dec. 31, 2012 USD ($) tranche
Line of Credit Facility [Line Items]
Long-term debt, gross		$ 207.0	$ 209.2
Less: current portion of long-term debt		134.0	2.2
Number of tranches | tranche								3
Less: unamortized debt issuance costs for Term Loan and Series notes		0.2	0.3
Interest expense		14.8	11.6	$ 10.2
Aggregate annual maturities of long-term debt [Abstract]
2024		134.0
2025		0.0
2026		0.0
2027		73.0
2028		0.0
Thereafter		0.0
Revolving Credit Facility, Due 2024
Line of Credit Facility [Line Items]
Line of credit facility, current borrowing capacity	$ 500.0					$ 300.0
Amount available for issuance of letters of credit	50.0
Line of credit facility, additional borrowing capacity	$ 929.0
Preceding period (in months)	12 months
Ratio of debt to EBITDA	3.5
Number of instances not to exceed | instance	3
Number of quarters following acquisition | fiscal_quarter	4
Ratio of debt to EBITDA after acquisition	4.0
Debt issuance costs		1.0	1.3
Line of credit, noncurrent		0.0
Line of credit facility, unused commitment level		497.6
Revolving Credit Facility, Due 2024 | Applicable Margin
Line of Credit Facility [Line Items]
Basis spread on variable interest rate (as a percent)	0.10%
Revolving Credit Facility, Due 2024 | Fed Funds Effective Rate Overnight Index Swap Rate
Line of Credit Facility [Line Items]
Basis spread on variable interest rate (as a percent)	0.50%
Revolving Credit Facility, Due 2024 | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate
Line of Credit Facility [Line Items]
Basis spread on variable interest rate (as a percent)	1.00%
Revolving Credit Facility, Due 2024 | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Minimum
Line of Credit Facility [Line Items]
Applicable margin ratio	0.00875
Revolving Credit Facility, Due 2024 | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Maximum
Line of Credit Facility [Line Items]
Applicable margin ratio	0.01375
Revolving Credit Facility, Due 2024 | Base Rate | Minimum
Line of Credit Facility [Line Items]
Applicable margin ratio	0
Revolving Credit Facility, Due 2024 | Base Rate | Maximum
Line of Credit Facility [Line Items]
Applicable margin ratio	0.00375
Revolving Credit Facility, Due 2024 | Domestic Line of Credit
Line of Credit Facility [Line Items]
Credit facility is available for swing-line loans	$ 50.0
Revolving Credit Facility, Due 2024 | Foreign Line of Credit
Line of Credit Facility [Line Items]
Credit facility is available for swing-line loans	$ 40.0
Revolving Credit Facility, Due 2024 | Letter of Credit
Line of Credit Facility [Line Items]
Letters of credit supporting the reimbursement of workers' compensation and other claims		2.4
Term Loan, due December 31, 2024 (6.32%)
Line of Credit Facility [Line Items]
Debt issuance costs		0.1	0.1
Debt instrument, face amount					$ 90.0
Long-term debt, gross		81.0	83.2
Less: current portion of long-term debt		$ 81.0
Debt instrument, stated interest rate (as a percent)		6.32%
Term Loan, due December 31, 2024 (6.32%) | Secured Overnight Financing Rate (SOFR)
Line of Credit Facility [Line Items]
Basis spread on variable interest rate (as a percent)					87.50%
Senior Notes
Line of Credit Facility [Line Items]
Debt instrument, face amount								$ 168.0
Weighted average of the coupon interest rate (as a percent)							3.94%
Less: unamortized debt issuance costs for Term Loan and Series notes		$ 0.1	$ 0.2
Senior Notes | Series A notes, due July 5, 2022 (3.67%)
Line of Credit Facility [Line Items]
Debt instrument, face amount								$ 42.0
Debt instrument, stated interest rate (as a percent)								3.67%
Senior Notes | Series B notes, due July 5, 2024 (3.82%)
Line of Credit Facility [Line Items]
Debt instrument, face amount								$ 53.0
Debt instrument, stated interest rate (as a percent)								3.82%
Senior Notes | Series C notes, due July 5, 2027 (4.02%)
Line of Credit Facility [Line Items]
Debt instrument, face amount								$ 73.0
Debt instrument, stated interest rate (as a percent)								4.02%