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Stock Incentive Programs - Additional Information (Details)
$ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
Plan
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
Mar. 03, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of stock-based employee compensation plans | Plan 1      
Stock-based compensation expense $ 12.2 $ 11.8 $ 12.6  
Income tax benefit recorded for stock-based compensation expense 1.7 1.5 1.4  
Total unrecognized compensation expense related to stock-based compensation arrangements $ 7.1      
Weighted-average period of cost expected to be recognized 1 year 5 months 4 days      
Restricted Stock [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 12.2 $ 11.8 $ 12.6  
Number of unvested restricted stock remained outstanding | shares 511,000 504,000    
Total fair value of options vested $ 1.7      
Restricted Stock [Member] | Minimum [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Vesting period 1 year      
Restricted Stock [Member] | Maximum [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Vesting period 3 years      
2020 Stock Incentive Plan [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common shares authorized for issuance | shares       2,500,000
2020 Stock Incentive Plan [Member] | Restricted Stock [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares vested | shares 65,932      
2020 Stock Incentive Plan [Member] | Unvested Restricted Stock [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share issued | shares 510,522