Long-Term Incentive Plans - Schedule of Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Outstanding at beginning of year (in shares)	2,210,684	2,458,255	2,838,867
Exercised (in shares)	(195,684)	(217,038)	(264,717)
Forfeited (in shares)	(15,358)	0	(1,828)
Expired (in shares)	(30,203)	(30,533)	(114,067)
Outstanding at end of year (in shares)	1,969,439	2,210,684	2,458,255
Options exercisable (in shares)	1,663,506	1,645,901	1,583,521
Weighted Average Exercise Price
Outstanding at beginning of year (in dollars per share)	$ 21.66	$ 21.02	$ 20.67
Exercised (in dollars per share)	14.59	14.17	14.80
Forfeited (in dollars per share)	20.44	0	23.78
Expired (in dollars per share)	18.32	23.68	26.62
Outstanding at end of year (in dollars per share)	$ 22.42	$ 21.66	$ 21.02