Shareholders' Equity - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	May 06, 2020	Aug. 06, 2014
Schedule of Capitalization, Equity [Line Items]
Preferred stock, shares authorized (in shares)	20,000,000
Preferred stock, par value (in dollars per share)	$ 0.10
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, par value (in dollars per share)	$ 0.10	$ 0.10
Preferred stock, shares issued (in shares)	0
Preferred stock, shares outstanding (in shares)		0
Common stock, shares outstanding (in shares)	64,111,555	63,912,762
Stock Repurchase Program, Additional Authorized Amount				$ 200,000,000
Stock Repurchase Program, Remaining Authorized Repurchase Amount	$ 171,600,000		$ 333,300,000		$ 133,300,000
Stock repurchased and retired during period (in shares)			2,085,000
Repurchases of Common Stock (Note 17)			$ 161,700,000
Share-based compensation expense	29,000,000	$ 17,700,000	28,000,000
Dividends	(80,100,000)	(80,400,000)	(81,000,000.0)
Dividends paid	80,100,000	$ 79,700,000	$ 80,600,000
Amount available for dividend payment	$ 500,000,000
Employee Stock | Employee Stock Purchase Plan
Schedule of Capitalization, Equity [Line Items]
Shares issued under employee stock purchase plan (in shares)	89,000	102,000	79,000
Price per share (in dollars per share)	$ 40.79	$ 40.83	$ 58.08
Share-based compensation expense	$ 600,000	$ 700,000	$ 800,000
Common Stock
Schedule of Capitalization, Equity [Line Items]
Stock repurchased and retired during period (in shares)			2,100,000
Repurchases of Common Stock (Note 17)			$ 200,000
Average cost per share (in dollars per share)			$ 77.58