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Stock-Based Compensation, Deferred Restricted Stock Units (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-Based Compensation [Abstract]      
Share based compensation costs $ 10.4 $ 10.7 $ 10.2
Deferred Restricted Stock Unit [Member]      
Stock-Based Compensation [Abstract]      
Unrecognized stock-based compensation expense $ 6.4    
Weighted average period over which unrecognized stock-based compensation expense is expected to be recognized 3 years    
Share based compensation costs $ 5.7 5.9 5.6
Reversals of compensation expense related to restricted stock forfeitures $ 2.7 $ 2.6 $ 2.3
Restricted Stock [Roll Forward]      
Balance, beginning of year (in shares) 196,133 201,985 177,736
Granted (in shares) 98,464 102,309 108,212
Vested (in shares) (52,441) (51,497) (43,702)
Canceled (in shares) (65,562) (56,664) (40,261)
Balance, end of year (in shares) 176,594 196,133 201,985
Weighted Average Grant Date Fair Value [Abstract]      
Balance, beginning of year (in dollars per share) $ 60.87 $ 58.07 $ 62.4
Granted (in dollars per share) 69.7 66.2 56.93
Vested (in dollars per share) 58.92 60.4 66.07
Canceled (in dollars per share) 61 60.98 65.42
Balance, end of year (in dollars per share) $ 66.32 $ 60.87 $ 58.07