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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-based compensation      
Unrecognized compensation cost related to stock options $ 74.7    
Stock-based compensation expense      
Total stock-based compensation cost 32.3 $ 33.5 $ 30.2
Capitalized cost during the period (3.2) (9.3) (3.5)
Amortization of capitalized cost during the period 2.1 14.3 1.2
Total stock-based compensation expense 31.2 38.5 27.9
Income tax benefit 14.6 $ 25.2 $ 8.8
Unrecognized compensation cost related to awards other than options $ 74.7    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 2 years 6 months    
Executive Incentive Program      
Stock-based compensation      
Shares available for grant under the plan (in shares) 1,500    
Restricted shares, performance shares, or other full value awards | Executive Incentive Program      
Stock-based compensation      
Shares available for grant under the plan (in shares) 700    
Stock options - annual equity grant      
Stock-based compensation      
Stock options granted (in shares) 732    
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 0.90% 1.40% 1.30%
Expected life in years 4 years 8 months 12 days 4 years 10 months 24 days 4 years 9 months 18 days
Expected volatility (as a percent) 29.10% 28.70% 21.90%
Risk-free interest rate (as a percent) 1.80% 0.40% 1.40%
Weighted average grant date fair value (in dollars per share) $ 55.96 $ 32.51 $ 29.29
Fair value of equity awards granted $ 12.8 $ 11.8 $ 11.6
Q2 2022 Stock Option and Stock Appreciation Right Grant      
Stock-based compensation expense      
Capitalized cost during the period (1.1)    
Q2 2018 Stock option and stock appreciation right grant      
Stock-based compensation expense      
Total stock-based compensation cost $ 4.7 9.5 4.0
Stock option awards      
Stock-based compensation      
Stock options granted (in shares) 732    
Unrecognized compensation cost related to stock options $ 40.7    
Stock-based compensation expense      
Total stock-based compensation cost $ 14.8 9.5 10.4
Vesting period 3 years    
Maximum term life 10 years    
Unrecognized compensation cost related to awards other than options $ 40.7    
2022 Broad-based Grant      
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 1.00%    
Expected life in years 3 years 9 months 18 days    
Expected volatility (as a percent) 31.90%    
Risk-free interest rate (as a percent) 3.90%    
Weighted average grant date fair value (in dollars per share) $ 80.23    
Fair value of equity awards granted $ 40.4    
Restricted stock awards      
Stock-based compensation      
Awards granted (in shares) 42    
Unrecognized compensation cost related to stock options $ 7.8    
Stock-based compensation expense      
Total stock-based compensation cost $ 8.1 7.3 8.6
Vesting period 3 years    
Unrecognized compensation cost related to awards other than options $ 7.8    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 8 months 12 days    
Performance share awards      
Stock-based compensation      
Awards granted (in shares) 38    
Unrecognized compensation cost related to stock options $ 10.5    
Stock-based compensation expense      
Total stock-based compensation cost $ 9.4 7.7 $ 7.4
Vesting period 3 years    
Unrecognized compensation cost related to awards other than options $ 10.5    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 9 months 18 days    
Restricted stock units      
Stock-based compensation      
Awards granted (in shares)     8
Stock-based compensation expense      
Total stock-based compensation cost $ 0.0 0.0 $ 1.4
Stock appreciation rights      
Stock-based compensation expense      
Total stock-based compensation cost $ 0.0 $ 9.0 $ 2.4