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Equity Incentive Program - Stock Options and SSARs (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
SSARs, Number of Shares (in shares):      
Forfeited 0    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate 0.85%    
Dividend yield 0.00% 0.00%  
Expected life (years) 4 years 6 months 4 years 6 months  
Volatility 34.30% 36.00%  
SSARs, Weighted-average grant date fair value (in dollars per share):      
Granted $ 21.14    
Stock Options, Number of Shares (in share):      
Beginning balance 3,478,438    
Granted 216,813    
Exercised (850,844)    
Forfeited (69,873)    
Expired (71,110)    
Ending balance 2,703,424 3,478,438  
Exercisable 2,204,948    
Stock Options, Weighted Average Exercise Price (in dollars per share):      
Beginning balance $ 15.04    
Granted 21.14    
Exercised 11.97    
Forfeited 20.63    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price 17.86    
Ending balance 16.28 $ 15.04  
Exercisable $ 15.63    
SARS and Options, Additional Disclosures      
Options, aggregate intrinsic value, outstanding $ 3.2    
Options, aggregate intrinsic value, exercisable $ 3.2    
Options, weighted average remaining contractual term, outstanding 2 years 9 months 18 days    
Options, weighted average remaining contractual term, exercisable 2 years 3 months 18 days    
Unrecognized compensation expense $ 1.2    
Weighted average period for compensation expense to be recognized 1 year 1 month 6 days    
SSARs and Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Dividend yield     0.00%
SSARs      
SSARs, Number of Shares (in shares):      
Beginning balance 375,964    
Granted 0    
Exercised (36,759)    
Expired (115,641)    
Ending balance 223,564 375,964  
Exercisable 223,564    
SSARs, Weighted-average grant date fair value (in dollars per share):      
Beginning balance $ 23.16    
Granted 0    
Exercised 21.77    
Forfeited 0    
Expired 22.14    
Ending balance 23.92 $ 23.16  
Exercisable 23.92    
Stock Options, Weighted Average Exercise Price (in dollars per share):      
Granted $ 0    
SARS and Options, Additional Disclosures      
SSARs, aggregate intrinsic value, outstanding $ 0.0    
SSARs, aggregate intrinsic value, exercisable $ 0.0    
SSARs, weighted average remaining contractual terms, outstanding 1 month 6 days    
SSARs, weighted average remaining contractual term, exercisable 1 month 6 days    
Unrecognized compensation expense $ 0.0    
Minimum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate   0.06% 0.11%
Expected life (years)     4 years 3 months 18 days
Volatility     38.80%
Fair value at date of grant $ 6.29 $ 6.14 $ 4.78
Maximum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate     1.42%
Expected life (years)   4 years 6 months  
Volatility     40.60%
Fair value at date of grant   $ 6.31 $ 5.95