Incentive Plans - Summary of Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Number of shares, outstanding at beginning of year (in shares)	2,458,255	2,838,867	2,424,032
Number of shares, granted (in shares)	0	0	699,651
Number of shares, exercised (in shares)	(217,038)	(264,717)	(213,506)
Number of shares, forfeited (in shares)	0	(1,828)	(6,357)
Number of shares, expired (in shares)	(30,533)	(114,067)	(64,953)
Number of shares, outstanding at end of year (in shares)	2,210,684	2,458,255	2,838,867
Number of shares, options exercisable at end of year (in shares)	1,645,901	1,583,521	1,596,927
Weighted Average Exercise Price
Weighted average exercise price, outstanding at beginning of year (in dollars per share)	$ 21.02	$ 20.67	$ 19.80
Weighted average exercise price, granted (in dollars per share)	0	0	20.44
Weighted average exercise price, exercised (in dollars per share)	14.17	14.80	9.50
Weighted average exercise price, forfeited (in dollars per share)	0	23.78	21.26
Weighted average exercise price, expired (in dollars per share)	23.68	26.62	22.51
Weighted average exercise price, outstanding at end of year (in dollars per share)	$ 21.66	$ 21.02	$ 20.67