Incentive Plans - Summary of Stock Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number of options outstanding (in shares) | shares	2,210,684
Weighted average remaining contractual life, options outstanding (years)	4 years 8 months 12 days
Weighted average exercise price, options outstanding (in dollars per share)	$ 21.66
Number of options exercisable (in shares) | shares	1,645,901
Weighted average remaining contractual life, options exercisable (years)	4 years
Weighted average exercise price, options exercisable (in dollars per share)	$ 21.57
$11.70 to $16.03
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise prices lower limit (usd per share)	11.70
Exercise prices higher limit (in dollars per share)	$ 16.03
Number of options outstanding (in shares) | shares	194,374
Weighted average remaining contractual life, options outstanding (years)	3 months 18 days
Weighted average exercise price, options outstanding (in dollars per share)	$ 14.19
Number of options exercisable (in shares) | shares	194,374
Weighted average remaining contractual life, options exercisable (years)	3 months 18 days
Weighted average exercise price, options exercisable (in dollars per share)	$ 14.19
16.04 to 20.36
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise prices lower limit (usd per share)	16.04
Exercise prices higher limit (in dollars per share)	$ 20.36
Number of options outstanding (in shares) | shares	464,706
Weighted average remaining contractual life, options outstanding (years)	2 years 2 months 12 days
Weighted average exercise price, options outstanding (in dollars per share)	$ 17.45
Number of options exercisable (in shares) | shares	464,706
Weighted average remaining contractual life, options exercisable (years)	2 years 2 months 12 days
Weighted average exercise price, options exercisable (in dollars per share)	$ 17.45
20.37 to 24.69
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise prices lower limit (usd per share)	20.37
Exercise prices higher limit (in dollars per share)	$ 24.69
Number of options outstanding (in shares) | shares	733,485
Weighted average remaining contractual life, options outstanding (years)	6 years 10 months 24 days
Weighted average exercise price, options outstanding (in dollars per share)	$ 20.55
Number of options exercisable (in shares) | shares	334,172
Weighted average remaining contractual life, options exercisable (years)	6 years 7 months 6 days
Weighted average exercise price, options exercisable (in dollars per share)	$ 20.68
24.70 to 29.01
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise prices lower limit (usd per share)	24.70
Exercise prices higher limit (in dollars per share)	$ 29.01
Number of options outstanding (in shares) | shares	818,119
Weighted average remaining contractual life, options outstanding (years)	5 years 2 months 12 days
Weighted average exercise price, options outstanding (in dollars per share)	$ 26.82
Number of options exercisable (in shares) | shares	652,649
Weighted average remaining contractual life, options exercisable (years)	5 years
Weighted average exercise price, options exercisable (in dollars per share)	$ 27.16