Pension and Other Postretirement Benefits - Company matching contribution to defined contribution 401(K) plans (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Retirement Benefits [Abstract]
Age requirement for future accruals	50 years
Company matching contribution to defined contribution (401(k)) plans	$ 6.0	$ 5.3	$ 4.9

Amount of discretionary contributions made by an employer to a defined contribution plan.

No definition available.

Name:	us-gaap_DefinedContributionPlanEmployerDiscretionaryContributionAmount
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration