Shareholders' Equity (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Feb. 01, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares reserved for future issuance (in shares)	2,507,814
Shares available (in shares)	1,940,149
Shares granted in period (in shares)	0	0	0
Stock options outstanding (in shares)	0
Shares in 401(k) plan (shares)	952,239
Authorized shares available (in shares)		2,298,353
Share Purchase Program
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Authorized amount of shares				$ 300.0
Remaining authorized amount	$ 231.5
Authorized shares available (in shares)	0	2,298,353
Shares repurchased during period		$ 68.5
Restricted Stock
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted (shares)	0	0	0
Awards outstanding (in shares)	0
Restricted Stock Units (RSUs)
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted (shares)	315,000	311,000	254,000
Vesting period	3 years
Compensation cost	$ 10.5	$ 7.5	$ 6.6
Compensation cost, net	7.8	5.6	4.9
Grant date fair value	8.9	$ 7.6	$ 6.8
Unrecognized compensation cost	$ 9.4
Remaining weighted-average period	1 year 3 months 18 days