Shareholders' Equity (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Shares outstanding at beginning of year (in shares)	44,794	44,549	44,368
Treasury shares issued for:
Restricted stock awards and performance share awards (in shares)	293	245	181
Shares outstanding at end of year (in shares)	45,087	44,794	44,549