Shareholders' Equity - Dividends and Stock Repurchase Programs (Details) - USD ($) $ / shares in Units, shares in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Mar. 31, 2020
Equity [Abstract]
Cash dividends declared (in dollars per share)	$ 0.52	$ 0.48	$ 0.40
Cash dividends declared	$ 32,200,000	$ 30,000,000	$ 25,500,000
Un paid cash dividend declared	8,600,000	$ 7,400,000	$ 6,300,000
Authorized amount				$ 200,000,000
Amount available to repurchase shares under stock repurchase program	$ 147,100,000
Shares repurchased (in shares)	2.0	1.7	2.6
Amount of shares repurchased	$ 48,700,000	$ 50,500,000	$ 68,300,000