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Debt and Financing - Narrative (Details)
1 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
acquisition
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Debt Instrument [Line Items]        
Sale of receivables   $ 37,400,000 $ 50,600,000 $ 31,900,000
Proceeds from sale and collection of receivables   48,000,000 41,500,000 $ 32,500,000
Receivables from sale of receivables   $ 600,000 $ 11,800,000  
Minimum        
Debt Instrument [Line Items]        
Number of days due from receivable   1 day    
Maximum        
Debt Instrument [Line Items]        
Number of days due from receivable   90 days    
Line of Credit        
Debt Instrument [Line Items]        
Amounts outstanding   $ 0    
Revolving Credit Facility | Line of Credit        
Debt Instrument [Line Items]        
Debt, term 5 years      
Maximum borrowing capacity $ 500,000,000      
Additional borrowing capacity   $ 200,000,000    
Debt instrument, number of extension options | acquisition   2    
Debt instrument, extension period   1 year    
Maximum leverage ratio 3.0      
Maximum leverage ratio, if acquisition is consummated 3.5      
Revolving Credit Facility | Line of Credit | Federal Funds Rate | Variable Rate Component, Federal Funds        
Debt Instrument [Line Items]        
Basis spread on variable rate 0.50%      
Revolving Credit Facility | Line of Credit | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate        
Debt Instrument [Line Items]        
Basis spread on variable rate 1.00%      
Revolving Credit Facility | Line of Credit | Minimum        
Debt Instrument [Line Items]        
Commitment fee percentage 0.075%      
Revolving Credit Facility | Line of Credit | Minimum | Sterling Overnight Index Average (SONIA)        
Debt Instrument [Line Items]        
Basis spread on variable rate 0.875%      
Revolving Credit Facility | Line of Credit | Minimum | Base Rate        
Debt Instrument [Line Items]        
Basis spread on variable rate 0.00%      
Revolving Credit Facility | Line of Credit | Maximum        
Debt Instrument [Line Items]        
Commitment fee percentage 0.225%      
Revolving Credit Facility | Line of Credit | Maximum | Sterling Overnight Index Average (SONIA)        
Debt Instrument [Line Items]        
Basis spread on variable rate 1.50%      
Revolving Credit Facility | Line of Credit | Maximum | Base Rate        
Debt Instrument [Line Items]        
Basis spread on variable rate 0.50%      
Fixed Rate Note Due 2025 And Fixed Rate Note Due 2029 | Senior Notes        
Debt Instrument [Line Items]        
Debt instrument, redemption price, percent   100.00%    
Repurchase price percentage related to change in control   101.00%