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Accounting for Stock-based Compensation - Additional Information (Details)
$ / shares in Units, $ in Millions
12 Months Ended 24 Months Ended
Apr. 04, 2018
shares
Dec. 31, 2022
USD ($)
PerformancePeriod
$ / shares
shares
Dec. 31, 2021
USD ($)
PerformancePeriod
shares
Dec. 31, 2020
USD ($)
PerformancePeriod
shares
Dec. 31, 2019
shares
Dec. 31, 2015
PerformancePeriod
Dec. 31, 2021
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term   9 months 18 days          
Share-based compensation arrangement by share-based payment award, options, exercisable, weighted average remaining contractual term   9 months 18 days          
Employee Stock Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, number of shares grants   0 0 0      
Share price | $ / shares   $ 99.05          
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $   $ 1.9 $ 0.8 $ 5.1      
Restricted Stock Units (RSUs)              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, award vesting period   3 years          
Share price | $ / shares   $ 99.05          
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 10.8 $ 7.9 $ 14.1      
Number of shares, granted   148,361 132,757 170,411      
Number of shares, vested   140,666 119,203 258,307      
Cash Settled RSUs              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, award vesting period   3 years          
Share price | $ / shares   $ 99.05          
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 6.6 $ 8.7 $ 9.3      
Number of shares, granted   115,024 52,246 134,259      
Number of shares, vested   75,566 104,272 154,653      
Performance Shares              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share price | $ / shares   $ 99.05          
Number of performance period in performance based share program | PerformancePeriod   1 2 3   2  
Percentage of multiplication award by product   2.00%          
Number of shares, granted   38,412 54,216 87,314 47,634   66,805
Number of shares, vested   47,634 63,258 88,038      
Number of shares, expected to vest   66,805          
Minimum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   0.00%          
Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   19.61%          
Omnibus Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, number of shares grants 1,600,000 10,885          
Share-based compensation arrangement by share-based payment award, number of shares available for grant   775,252          
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term   10 years          
Omnibus Plan | Non-Employee Director Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share price | $ / shares   $ 99.05          
Number of shares, granted   11,399 11,186 12,541      
Number of shares, vested   11,637 12,110 10,891