Stock-Based Compensation - Narrative (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) plan $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of incentive plans (in plans) | plan	2
Weighted average remaining contractual term	4 years 10 months 24 days
Grants in period (in shares) | shares	0
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	497,766
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]
Expiration period from date of grant	10 years
Aggregate intrinsic value of stock options exercised	$ 1,000,000	$ 2,000,000	$ 1,000,000
Cash received from the exercise of options	1,600,000	3,500,000	1,700,000
Tax benefits realized for the tax deductions from options exercised	$ 400,000	800,000	400,000
Options vested (in shares) | shares	137,150
Weighted average exercise price (in dollars per share) | $ / shares	$ 38.66
Aggregate intrinsic value	$ 1,800,000
Weighted average remaining contractual term	4 years 10 months 24 days
Share-based compensation expense	$ 0	300,000	1,200,000
Remaining unrecognized compensation cost	0
Total fair value of options expensed before tax benefits	$ 0	800,000	1,700,000
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	$ 4,500,000	$ 3,800,000	$ 4,100,000
Weighted average period	1 year 7 months 6 days
Granted (in shares) | shares	110,067	118,847	118,995
Weighted average grant date fair value (in dollars per share) | $ / shares	$ 51.57	$ 51.76	$ 55.92
Compensation not yet recognized	$ 5,500,000
Fair value of awards vested in period	3,900,000	$ 3,500,000	$ 4,200,000
Tax benefit realized on vesting of options	$ 900,000	800,000	1,000,000
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	$ 6,900,000	$ 5,100,000	$ 5,900,000
Weighted average period	1 year 3 months 18 days
Granted (in shares) | shares	160,852	111,654	182,886
Weighted average grant date fair value (in dollars per share) | $ / shares	$ 40.51	$ 48.18	$ 49.76
Compensation not yet recognized	$ 6,000,000
Fair value of awards vested in period	8,500,000	$ 4,400,000	$ 9,600,000
Tax benefit realized on vesting of options	2,000,000	1,100,000	2,300,000
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	$ 2,700,000	$ 1,200,000	$ 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	141,377
Grants in period (in shares) | shares	0