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Stock Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of Shares Authorized 7,400,000    
Tax Benefit from Compensation Expense $ 3.6 $ 3.4 $ 3.5
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]      
Minimum payout range 0.00%    
Maximum payout range 200.00%    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Total Compensation Cost Not yet Recognized $ 11.0    
Performance Units Related to Earnings Per Share [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 0 [1] 87,308 86,857
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 0 $ 31.03 $ 34.83
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 155,171 251,825  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 0 [1] 87,308 86,857
Equity Instruments Other than Options, Converted in Period [2] (91,356)    
Equity Instruments Other than Options, Forfeited in Period (5,298)    
Awards Other than Options, Fully Vested 74,053    
Equity Instruments Other than Options, Converted, Aggregrate Intrinsic Value $ 7.2    
Equity Instruments Other than Options, Vested in Period, Aggregate Intrinsic Value 6.6    
Equity Instruments Other than Options, Outstanding, Aggregrate Intrinsic Value 11.5    
Equity Instruments Other than Options, Fully Vested, Aggregrate Intrinsic Value $ 4.7    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Equity Instruments Other than Options, Nonvested, Number, Beginning Balance 160,469    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 0 [1] 87,308 86,857
Equity Instruments Other than Options, Vested in Period (74,053)    
Equity Instruments Other than Options, Forfeited in Period (5,298)    
Equity Instruments Other than Options, Nonvested, Number, Ending Balance 81,118 160,469  
Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 31.03 $ 32.82  
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value 0 $ 31.03 $ 34.83
Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value 34.83    
Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value $ 32.07    
Awards Other than Options, Vested and Expected to Vest, Outstanding [3] 77,617    
Fair Value of Vested Performance Units and Restricted Stock $ 5.2 $ 4.9 $ 1.2
Total Compensation Cost Not yet Recognized $ 0.8    
Total Compensation Cost Not yet Recognized, Period for Recognition 1 year    
Total Shareholder Return [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 208,647 [1] 261,916 260,570
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 47.00 $ 36.86 $ 41.77
Expected Dividend Rate 4.00% 3.60% 3.80%
Expected Volatility Rate 17.00% 19.00% 19.90%
Risk Free Interest Rate 2.47% 2.38% 1.44%
Expected Term 2 years 10 months 9 days 2 years 10 months 9 days 2 years 9 months 18 days
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 664,817 755,480  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 208,647 [1] 261,916 260,570
Equity Instruments Other than Options, Converted in Period [2] (274,078)    
Equity Instruments Other than Options, Forfeited in Period (25,232)    
Awards Other than Options, Fully Vested 222,163    
Equity Instruments Other than Options, Converted, Aggregrate Intrinsic Value $ 19.8    
Equity Instruments Other than Options, Vested in Period, Aggregate Intrinsic Value 11.5    
Equity Instruments Other than Options, Outstanding, Aggregrate Intrinsic Value 35.4    
Equity Instruments Other than Options, Fully Vested, Aggregrate Intrinsic Value $ 22.8    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Equity Instruments Other than Options, Nonvested, Number, Beginning Balance 481,402    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 208,647 [1] 261,916 260,570
Equity Instruments Other than Options, Vested in Period (222,163)    
Equity Instruments Other than Options, Forfeited in Period (25,232)    
Equity Instruments Other than Options, Nonvested, Number, Ending Balance 442,654 481,402  
Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 41.43 $ 39.17  
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value 47.00 $ 36.86 $ 41.77
Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value 41.76    
Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value $ 41.45    
Awards Other than Options, Vested and Expected to Vest, Outstanding [3] 418,331    
Fair Value of Vested Performance Units and Restricted Stock $ 9.3 $ 5.9 $ 6.3
Total Compensation Cost Not yet Recognized $ 8.7    
Total Compensation Cost Not yet Recognized, Period for Recognition 1 year 8 months 1 day    
Performance Shares [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation Expense $ 13.0 13.3 9.0
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Total Compensation Cost Not yet Recognized 9.5    
Restricted Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation Expense $ 0.9 $ 0.1 $ 0.1
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 75,929 826 3,145
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 41.71 $ 36.28 $ 34.96
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 72,880 2,711  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 75,929 826 3,145
Equity Instruments Other than Options, Forfeited in Period (3,599)    
Equity Instruments Other than Options, Vested in Period, Aggregate Intrinsic Value $ 0.1    
Equity Instruments Other than Options, Outstanding, Aggregrate Intrinsic Value 3.2    
Equity Instruments Other than Options, Fully Vested, Aggregrate Intrinsic Value $ 2.4    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Equity Instruments Other than Options, Nonvested, Number, Beginning Balance 2,711    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 75,929 826 3,145
Equity Instruments Other than Options, Vested in Period (2,161)    
Equity Instruments Other than Options, Forfeited in Period (3,599)    
Equity Instruments Other than Options, Nonvested, Number, Ending Balance 72,880 2,711  
Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 41.66 $ 35.00  
Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value 41.71 $ 36.28 $ 34.96
Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value 34.66    
Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value $ 41.78    
Awards Other than Options, Vested and Expected to Vest, Outstanding [3] 54,102    
Fair Value of Vested Performance Units and Restricted Stock $ 0.1 $ 0.1 $ 0.1
Total Compensation Cost Not yet Recognized $ 1.5    
Total Compensation Cost Not yet Recognized, Period for Recognition 1 year 11 months 23 days    
Stock Compensation Plan [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation Expense, Net of Unconsolidated Affiliates $ 13.9 13.4 9.1
Performance Units Related to Earnings Per Share [Member] | Performance Shares [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation Expense 4.3 5.1 1.4
Total Shareholder Return [Member] | Performance Shares [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation Expense $ 8.7 $ 8.2 $ 7.6
Common Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Issued During Period, Shares, Share-based Compensation, Net of Forfeitures 443,900 26,211 2,298
[1] For performance units, this represents the target number of performance units granted. Actual number of performance units earned, if any, is dependent upon performance and may range from zero percent to 200 percent of the target.
[2] These amounts represent performance units that vested at December 31, 2018 which were settled in February 2019.
[3] The intrinsic value of the performance units based on total shareholder return and earnings per share is $22.8 million and $4.7 million, respectively. The intrinsic value of restricted stock units is $2.4 million.