Employee Benefit Plans - Cash Awards (Details) - Fixed Value Cash Awards - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Long-term incentive cash awards granted	$ 6.0	$ 5.5	$ 3.5
Vesting period	3 years
Deferred compensation cost	$ 4.5	$ 4.3	$ 4.0