Shareholders' Equity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Jan. 25, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock Repurchase Program, Authorized Amount				$ 300,000,000
Stock repurchases, Shares	24,520	472,609	131,300
Payments for Repurchase of Common Stock	$ 2,600,000	$ 47,200,000	$ 13,100,000
Common Stock, Shares Authorized	120,000,000	120,000,000
Common Stock, Par or Stated Value Per Share	$ 0.625	$ 0.625
Common Stock, Shares, Issued	68,797,027	68,575,974
Common Stock, Shares, Outstanding	35,464,841	35,268,308
Common Stock, Capital Shares Reserved for Future Issuance	7,200,000
Stock Repurchased During Period, Value	$ 2,600,000	$ 47,200,000	$ 13,200,000
Series A and Series B preferred Stock [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Preferred Stock, Shares Authorized	5,000,000
Preferred Stock, Par or Stated Value Per Share	$ 1.00
Share-based compensation award plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance	2,100,000
Share-based Payment Arrangement [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance	5,100,000