Share Incentive Plans, Stock Option Activity (Details) - 2006, 2015 and 2021 Plans [Member] - Stock Options [Member] - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Option Shares [Roll Forward]
Outstanding, beginning balance (in shares)	683,214	619,835
Granted (in shares)	77,519	114,827
Exercised (in shares)	(33,851)	(40,331)
Forfeited (in shares)	(69,931)	(11,117)
Outstanding, ending balance (in shares)	656,951	683,214	619,835
Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 29.74	$ 28.51
Granted (in dollars per share)	20.71	30.58
Exercised (in dollars per share)	13.3	12.49
Forfeited (in dollars per share)	27.51	32.6
Outstanding, ending balance (in dollars per share)	29.79	29.74	$ 28.51
Weighted Average Grant Date Fair Value [Abstract]
Outstanding, beginning balance (in dollars per share)	9.24	8.7
Granted (in dollars per share)	6.45	10.34
Exercised (in dollars per share)	4.24	4.08
Forfeited (in dollars per share)	9.11	9.35
Outstanding, ending balance (in dollars per share)	$ 9.18	$ 9.24	$ 8.7
Intrinsic value of options exercised	$ 0.3	$ 0.7	$ 7.9