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Share-Based Compensation Plans - Relative Total Shareholder Return Performance Unit Activity (Details) - RTSR - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Non-vested Performance- Based Share Units      
Beginning balance (in shares) 236 176  
Granted (in shares) 54 69  
Vested (in shares) 0 (9)  
Ending balance (in shares) 290 236 176
Weighted-Average Grant Date Fair Value Per Share      
Nonvested shares outstanding (in shares) $ 47.36 $ 53.85 $ 65.04
Granted (in dollars per share) 40.80 41.20 $ 67.72
Vested (in dollars per share) $ 0 $ 52.52  
Weighted- Average Remaining Term in Years 1 year 4 months 24 days 1 year 2 months 12 days 1 year 6 months
Aggregate Intrinsic Value $ 9.9 $ 9.2 $ 7.9
Fair value of shares vested in period $ 0.0 $ 0.5 $ 1.5