Stockholders' Equity (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items]
Treasury stock purchase plan	$ 100.0
Treasury stock purchase plan remaining available	$ 100.0
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation	59,377	47,664	40,350
Payment, Tax Withholding, Share-based Payment Arrangement	$ 9.4	$ 10.9	$ 8.3
Treasury Stock, Common, Shares	2,428	1,633	119