Stock-Based Compensation and Stock Awards - Restricted Stock Awards - Additional Information (Details) - Restricted stock awards [Member] - USD ($) $ 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]
Restricted stock awards compensation expense	$ 6.1	$ 6.1	$ 8.0
Income tax benefit recognized	1.2	$ 1.1	$ 1.3
Unrecognized compensation expense related to share based compensation	$ 13.3
Period of recognition for unrecognized compensation expense related to nonvested stock options (in years)	2 years 2 months 12 days
Antidilutive securities (in shares)	0	0	485,000