Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Jun. 30, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Allowance for credit loss	$ 5.5	$ 4.0
Accumulated depreciation	255.2	248.1
Accumulated amortization	$ 53.5	$ 51.3
Preferred stock, shares authorized	2,000,000	2,000,000
Preferred stock, par value (in dollars per share)	$ 1.00	$ 1.00
Preferred stock, shares issued	0	0
Common stock, shares authorized	40,000,000	40,000,000
Common stock, par value (in dollars per share)	$ 0.20	$ 0.20
Common stock, shares issued	22,800,581	22,740,635
Common stock, shares outstanding	22,800,581	22,740,635