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Stock-Based Compensation - Schedule of Outstanding Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award
Stock Option Awards Outstanding, Number Outstanding (in shares)	245,423	376,769	433,026	471,676	1,083,402
Stock Option Awards Outstanding, Weighted-Average Remaining Contractual Life, (in years)	5 years 2 months 12 days
Weighted-Average Exercise Price of Outstanding Options (in dollars per share)	$ 82.00	$ 79.86	$ 78.37	$ 77.96	$ 74.38
Stock Option Awards Outstanding, Aggregate Intrinsic Value	$ 6.5
Stock Option Awards Exercisable, Number Exercisable (in shares)	245,423	376,769	364,403	251,049
Options exercisable, end of period (in dollars per share)	$ 82.00	$ 79.86	$ 76.13	$ 74.73
Price Range, $60.01 - $80.00
Share-based Compensation Arrangement by Share-based Payment Award
Stock Option Awards Outstanding, Exercise Prices, Low End of Range (in dollars per share)	60.01
Stock Option Awards Outstanding, Exercise Prices, High End of Range (in dollars per share)	$ 80.00
Stock Option Awards Outstanding, Number Outstanding (in shares)	76,831
Stock Option Awards Outstanding, Weighted-Average Remaining Contractual Life, (in years)	4 years 10 months 24 days
Weighted-Average Exercise Price of Outstanding Options (in dollars per share)	$ 66.09
Stock Option Awards Outstanding, Aggregate Intrinsic Value	$ 3.3
Price Range, $80.01 - $100.00
Share-based Compensation Arrangement by Share-based Payment Award
Stock Option Awards Outstanding, Exercise Prices, Low End of Range (in dollars per share)	$ 80.01
Stock Option Awards Outstanding, Exercise Prices, High End of Range (in dollars per share)	$ 100.00
Stock Option Awards Outstanding, Number Outstanding (in shares)	168,592
Stock Option Awards Outstanding, Weighted-Average Remaining Contractual Life, (in years)	5 years 3 months 18 days
Weighted-Average Exercise Price of Outstanding Options (in dollars per share)	$ 89.25
Stock Option Awards Outstanding, Aggregate Intrinsic Value	$ 3.2