Shareholders' Equity (Details)			12 Months Ended
	Oct. 28, 2013 $ / shares	Feb. 29, 2012 $ / shares	Dec. 31, 2023 USD ($) plans $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividends per share of common stock (in dollars per share) | $ / shares	$ 0.20	$ 0.15	$ 0.80	$ 0.80	$ 0.80
Dividends payable			$ 6,153,000	$ 6,098,000	$ 5,874,000
Preferred stock, shares authorized (in shares) | shares			500,000	500,000
Preferred stock, par value (in dollars per share) | $ / shares			$ 0.01	$ 0.01
Preferred stock, shares issued (in shares) | shares			0	0
Shares authorized under repurchase program			$ 200,000,000
Total stock repurchased under plan, shares | shares			6,100,000
Total stock repurchased under plan, value			$ 162,600,000
Remaining authorized repurchase amount			$ 37,400,000
Number of shares reserved for share-based compensation plans | shares			6,300,000
Number of share-based compensation plans | plans			2
Number of shares available for grant | shares			2,400,000
Stock-based compensation			$ 24,257,000	$ 21,729,000	16,335,000
Tax benefit from stock-based compensation			4,000,000	3,800,000	3,900,000
Proceeds from stock options exercised			$ 16,200,000	$ 8,900,000	$ 19,600,000
Stock Options and Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period from date of grant (in years)			10 years
Performance Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting term (in years)			3 years
Minimum | Stock Options, Stock Appreciation Rights, and Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting term (in years)			4 years
Maximum | Stock Options, Stock Appreciation Rights, and Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting term (in years)			5 years