Share Repurchase Program - Additional Information (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Nov. 14, 2023 USD ($)	Nov. 30, 2021 USD ($)	Sep. 30, 2017 USD ($)
Equity Class Of Treasury Stock [Line Items]
Stock repurchase program, authorized amount			$ 191,000	$ 200,000,000	$ 100,000,000
Line of credit facility, condition permitted for unlimited share repurchases, leverage ratio				0.5
Net liquidity amount				$ 100,000,000
Stock Repurchased During Period, Shares | shares	180,000	176,375
Stock Repurchased During Period, Value	$ 18,100,000	$ 17,000,000
Share repurchase amount				$ 25,000,000
Average price per share | $ / shares	$ 100.7	$ 96.18
Credit Facility
Equity Class Of Treasury Stock [Line Items]
Share repurchase amount	$ 93,700,000