Employee Benefit Plans - Defined Benefit Plans (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net asset (liability)
Other long-term liabilities	$ (19,500,000)	$ (21,300,000)
Defined Benefit Plans
Projected benefit obligation
Beginning of year	136,000,000.0	170,000,000.0
Service cost	2,100,000	2,300,000	$ 3,000,000.0
Interest cost	6,300,000	3,300,000	2,800,000
Plan amendments	0	200,000
Actuarial loss (gain)	3,500,000	(26,600,000)
Benefits paid	(13,600,000)	(13,200,000)
End of year	134,300,000	136,000,000.0	170,000,000.0
Fair value of plan assets
Beginning of year	114,900,000	149,200,000
Actual gain (loss) on plan assets	8,400,000	(24,600,000)
Company contributions	5,100,000	3,500,000
Benefits paid	(13,600,000)	(13,200,000)
End of year	114,800,000	114,900,000	$ 149,200,000
(Unfunded) funded status end of year	(19,500,000)	(21,100,000)
Accumulated benefit obligation at end of year	133,100,000	134,800,000
Net asset (liability)
Other long-term assets	400,000	0
Accrued and other current liabilities	(1,500,000)	(1,500,000)
Other long-term liabilities	(18,400,000)	(19,600,000)
Net pension liabilities	(19,500,000)	(21,100,000)
Amounts included in accumulated other comprehensive loss
Unrecognized actuarial losses (gross)	51,300,000	49,200,000
Unrecognized actuarial losses (net of tax)	39,600,000	38,100,000
Unrecognized prior service costs (gross)	500,000	600,000
Unrecognized prior service costs (net of tax)	400,000	400,000
Executive Supplemental and Director Defined Benefit Pension Plans
Projected benefit obligation
Beginning of year	19,000,000
End of year	20,000,000	19,000,000
Fair value of plan assets
Beginning of year	0
Company contributions	1,500,000	1,500,000
End of year	0	0
Accumulated benefit obligation at end of year	$ 18,700,000	$ 17,700,000