Earnings per Share Purchase of Common Stock (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Nov. 30, 2015
Stock Repurchased and Retired During Period, Value	$ 18,780,000	$ 36,920,000	$ 19,090,000
10b5-1 share repurchase program [Member]
Stock Repurchase Program, Authorized Amount	$ 250,000,000			$ 50,000,000
Stock Repurchased and Retired During Period, Shares	680,594	1,264,088	596,084
Stock Repurchased and Retired During Period, Value	$ 18,800,000	$ 36,900,000	$ 19,100,000
Stock Repurchase Program, Remaining Authorized Repurchase Amount	$ 86,900,000