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Related Party Transactions - Split Dollar Agreements (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Chairman, Board of Directors      
Related Party Transaction [Line Items]      
Payments for life insurance policies $ 0.7 $ 1.1 $ 1.1
Chief Executive Officer      
Related Party Transaction [Line Items]      
Payments for life insurance policies 0.7 0.7 $ 0.7
Executive Officers      
Related Party Transaction [Line Items]      
Life insurance assets, carrying amount 27.2 $ 25.8  
Maximum | Chairman, Board of Directors      
Related Party Transaction [Line Items]      
Life insurance, face amount 200.0    
Maximum | Chief Executive Officer      
Related Party Transaction [Line Items]      
Life insurance, face amount $ 75.0