Equity Compensation Plans - Restricted Stock (Details Textual) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value, awards granted	$ 52.09	$ 63.25	$ 48.82
Market value of restricted stock shares vesting	$ 28.0	$ 26.4	$ 21.0
Restricted stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted common stock shares granted to certain members of executive management	720
Weighted-average grant date fair value, awards granted	$ 52.09
Minimum | Restricted stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	2 years
Maximum | Restricted stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	4 years