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Stock-Based Compensation - Narrative (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
plan
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of incentive plans (in plans) | plan 2    
Granted (in shares) | shares 0    
Grants (in dollars per share) | $ / shares $ 0    
Weighted average remaining contractual term 5 years 4 months 24 days    
Employee Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized (in shares) | shares 750,000    
Shares reserved for future issuance (in shares) | shares 549,977    
Discount from market price, offering date 15.00%    
Share-based offering period 6 months    
Maximum percentage of employee compensation for purchase of common stock 10.00%    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in shares) | shares 0 0 8,000
Grants (in dollars per share) | $ / shares $ 0 $ 0 $ 16.48
Expiration period from date of grant 10 years    
Aggregate intrinsic value of stock options exercised $ 2,000,000 $ 1,000,000 $ 900,000
Cash received from the exercise of options 3,500,000 1,700,000 1,600,000
Tax benefits realized for the tax deductions from options exercised $ 800,000 400,000 400,000
Options vested (in shares) | shares 199,276    
Weighted average exercise price (in dollars per share) | $ / shares $ 36.89    
Aggregate intrinsic value $ 2,500,000    
Weighted average remaining contractual term 5 years 4 months 24 days    
Share-based compensation expense $ 300,000 1,200,000 1,800,000
Remaining unrecognized compensation cost 0    
Total fair value of options expensed before tax benefits $ 800,000 1,700,000 2,000,000
Stock Options | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Option vesting term 3 years    
Stock Options | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Option vesting term 4 years    
Restricted Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Option vesting term 3 years    
Share-based compensation expense $ 3,800,000 $ 4,100,000 $ 2,600,000
Weighted average period 1 year 7 months 6 days    
Granted (in shares) | shares 118,847 118,995 118,835
Weighted average grant date fair value (in dollars per share) | $ / shares $ 51.76 $ 55.92 $ 27.62
Compensation not yet recognized $ 5,700,000    
Fair value of awards vested in period 3,500,000 $ 4,200,000 $ 2,300,000
Tax benefit realized on vesting of options $ 800,000 1,000,000 500,000
Restricted Stock Units | First Anniversary      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting percentage 33.30%    
Restricted Stock Units | Second Anniversary      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting percentage 33.30%    
Restricted Stock Units | Third Anniversary      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting percentage 33.40%    
Performance Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 5,100,000 $ 5,900,000 $ 4,900,000
Weighted average period 1 year 4 months 24 days    
Granted (in shares) | shares 111,654 182,886 159,136
Weighted average grant date fair value (in dollars per share) | $ / shares $ 48.18 $ 49.76 $ 29.65
Compensation not yet recognized $ 5,500,000    
Fair value of awards vested in period 4,400,000 $ 9,600,000 $ 3,700,000
Tax benefit realized on vesting of options 1,100,000 2,300,000 900,000
Performance-Based with Market Condition Cash Settled Long-Term Incentive Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 1,200,000 $ 0 $ 0
2020 Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized (in shares) | shares 1,031,162    
Shares reserved for future issuance (in shares) | shares 338,061