Equity and Accumulated Other Comprehensive Loss - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Feb. 28, 2024	Dec. 31, 2015
Accumulated Other Comprehensive Income (Loss) [Line Items]
Common stock, shares authorized (in shares)	30,000,000	30,000,000
Common stock, par value (in dollars per share)	$ 1	$ 1
Common stock, shares issued (in shares)	17,991,988	17,950,264
Common stock, shares outstanding (in shares)	17,991,988	17,950,264
Shares issued for equity based comp plans	38,522
Shares issued for options exercise and other activity	3,202
Preferred stock, shares authorized (in shares)	10,000,000
Preferred stock, par value (in dollars per share)	$ 1
Shares issued for ESPP (in shares)	0
Share Repurchase Program
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock repurchased and retired during period (in shares)	0	0	0
2024 Share Repurchase Program | Subsequent Event
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock repurchase program, authorized amount				$ 150.0
2015 Share Repurchase Program
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock repurchase program, authorized amount					$ 100.0
Stock repurchase program, remaining authorized repurchase amount	$ 86.9