Stock Plans - Income Tax Benefit (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Tax benefit recognized from all stock-based employee compensation plans	$ 3.5	$ 3.5	$ 2.9

Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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