Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding at beginning of period (in shares)	929,205	978,188	1,085,023
Granted (in shares)	661,396	292,577	273,845
Converted (in shares)	(374,267)	(327,160)	(316,430)
Expired (in shares)	(117,550)	(3,000)	(58,650)
Forfeited (in shares)	(32,000)	(11,400)	(5,600)
Outstanding at end of period (in shares)	1,066,784	929,205	978,188
Vested (in shares)	501,810	497,128	414,949
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Outstanding at beginning of period, Weighted average grant-date fair value (in dollars per share)	$ 21.83	$ 17.49	$ 17.14
Granted, Weighted average grant-date fair value (in dollars per share)	20.46	35.19	26.65
Converted, Weighted average grant-date fair value (in dollars per share)	23.07	20.43	22.76
Expired, Weighted average grant-date fair value (in dollars per share)	24.12	40.02	24.79
Forfeited, Weighted average grant-date fair value (in dollars per share)	24.71	27.44	23.31
Outstanding at end of period, Weighted average grant-date fair value (in dollars per share)	20.19	21.83	17.49
Vested (in dollars per share)	$ 12.94	$ 13.05	$ 11.43
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]
Share-based compensation expense	$ 8.5	$ 8.3	$ 7.4
Unrecognized share-based compensation expense	$ 9.9
Unrecognized share-based compensation, weighted average recognition period	1 year 6 months
Restricted Stock [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period	3 years
Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period	3 years
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]
Historical volatility period	3 years
Risk-free interest rate	3.70%	2.50%	0.30%
Expected volatility rate	37.10%	38.30%	39.70%
Market Condition Award [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Granted, Weighted average grant-date fair value (in dollars per share)	$ 23.28	$ 46.20	$ 26.50
Performance Condition Award [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Granted, Weighted average grant-date fair value (in dollars per share)	$ 20.78	$ 33.84	$ 26.69
Time-Based Awards [Member] | Maximum
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]
Number of additional outstanding shares issued (in shares)	1,341,559
Director [Member] | Time-Based Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Vested (in shares)	430,363
Director [Member] | Time-Based Awards [Member] | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period		12 months