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Equity Awards - Restricted Stock Units Narrative (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted shares issued related to director fee deferrals			2,129
Number of Unvested Restricted Stock Units Granted			388,219
Unrecognized unvested restricted shares-based compensation expense	$ 5.9		$ 5.9
Weighted-average period for recognition of the unrecognized unvested restricted shares-based compensation expense			2 years
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period			175,636
Restricted Stock Units [Member] \| Dividend Declared
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Unvested Restricted Stock Units Granted			123
Plan 1 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Unvested Restricted Stock Units Granted			254,478
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period			3 years
Plan 2 [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award percentage attained			62.70%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period			32,430
Plan 3 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period			86,275
Plan 4 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Unvested Restricted Stock Units Granted			8,912
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period			3 years
Plan 7 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Unvested Restricted Stock Units Granted			27,560
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period			1 year
Plan 8 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Unvested Restricted Stock Units Granted			95,017
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period			3 years
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate			4.36%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate			33.90%
3 year EPS CAGR metric [Member] \| Maximum [Member] \| Plan 8 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award percentage earned based on metric over the performance period			50.00%
Total shareholder return metric [Member] \| Plan 2 [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award percentage earned based on metric over the performance period			50.00%
Total shareholder return metric [Member] \| Minimum [Member] \| Plan 8 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Amount of shares earned % of target award			0.00%
Total shareholder return metric [Member] \| Maximum [Member] \| Plan 8 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Amount of shares earned % of target award			250.00%
Cash return on net assets metric \| Maximum [Member] \| Plan 8 [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award percentage earned based on metric over the performance period			50.00%
Earnings per share compound annual growth rate metric \| Plan 2 [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award percentage earned based on metric over the performance period			50.00%
Selling, General and Administrative Expenses [Member] \| Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted shares-based compensation expense	$ 3.1	$ 2.4	$ 9.3	$ 7.7