Earnings Per Share - Narrative (Details) - USD ($)	3 Months Ended				9 Months Ended
	Sep. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Oct. 31, 2023	Nov. 30, 2020
Accelerated Share Repurchases [Line Items]
Stock repurchased and retired	$ 28,787,000		$ 45,604,000		$ 88,433,000	$ 97,855,000
Share repurchases included in current liabilities	0		$ 2,572,000		0	$ 2,572,000
2020 Share repurchase program
Accelerated Share Repurchases [Line Items]
Share repurchase authorized amount	$ 300,000,000				$ 300,000,000			$ 50,000,000
Stock repurchased and retired (shares)	290,288		685,641		1,116,830	1,706,587
Stock repurchased and retired	$ 28,800,000		$ 45,600,000		$ 88,400,000	$ 97,900,000
Settlement of repurchase of shares (in shares)		15,200		3,820		38,568
Share repurchases included in current liabilities		$ 1,100,000	$ 2,600,000	$ 200,000		$ 2,600,000
Remaining authorized repurchase amount	$ 21,100,000				$ 21,100,000
2020 Share repurchase program | Subsequent event
Accelerated Share Repurchases [Line Items]
Share repurchase authorized amount							$ 400,000,000