Capital Stock and Share-Based Compensation Plans - Schedule of stock compensation costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Share-based compensation, net of tax	$ 15,560	$ 16,355	$ 17,047
Restricted stock units
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Total share-based compensation	$ 20,490	$ 21,596	$ 22,334