Stock-Based Compensation, Stock Award and Incentive Plan and Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation [Abstract]
Share based compensation costs	$ 11.3	$ 10.4	$ 10.7
Stock Options [Member]
Stock-Based Compensation [Abstract]
Term of stock options granted under Plan	10 years
Vesting period	3 years
Share based compensation costs	$ 5.2	4.8	4.9
Tax benefit of share-based compensation	$ 1.4	$ 1.3	$ 1.3
Forfeiture rate assumed	7.91%	8.09%	8.38%
Weighted average grant date fair value for stock options granted (in dollars per share)	$ 25.11	$ 24.26	$ 21.62
Weighted average grant date fair value for stock options vested (in dollars per share)	$ 21.56	$ 19.82	$ 20.56
Total intrinsic value of stock options exercised	$ 1.0	$ 2.0	$ 6.1
Weighted Average Assumptions [Abstract]
Expected life	6 years 4 months 24 days	6 years 8 months 12 days	6 years 10 months 24 days
Interest rate	3.51%	1.70%	0.71%
Volatility	32.05%	31.92%	32.04%
Expected dividend yield	0.30%	0.28%	0.31%
Stock Options [Roll Forward]
Balance, beginning of year (in shares)	1,363,418
Granted (in shares)	255,620
Exercised (in shares)	(91,604)
Canceled (in shares)	(12,972)
Expired (in shares)	0
Balance, end of year (in shares)	1,514,462	1,363,418
Exercisable, end of year (in shares)	1,054,321
Weighted Average Exercise Price Per Share [Abstract]
Balance, beginning of year (in dollars per share)	$ 62.22
Granted (in dollars per share)	66.08
Exercised (in dollars per share)	56.82
Canceled (in dollars per share)	67.54
Expired (in dollars per share)	0
Balance, end of year (in dollars per share)	63.15	$ 62.22
Exercisable, end of year (in dollars per share)	$ 61.39
Weighted Average Remaining Contractual Life [Abstract]
Outstanding options, end of year	5 years 10 months 13 days
Exercisable options, end of year	4 years 8 months 26 days
Aggregate Intrinsic Value [Abstract]
Outstanding options, end of year	$ 13.8
Exercisable options, end of year	$ 11.9
Additional Information [Abstract]
Closing stock price on last business day of the period (in dollars per share)	$ 71.31
Weighted average intrinsic value of options exercised (in dollars per share)	$ 7.78	$ 16.34	$ 24.43
Unrecognized stock-based compensation expense	$ 5.6
Weighted average period over which unrecognized stock-based compensation expense is expected to be recognized	3 years
Nonvested Stock Options [Member]
Stock Options [Roll Forward]
Balance, beginning of year (in shares)	436,082
Granted (in shares)	255,620
Vested (in shares)	(220,676)
Canceled (in shares)	(10,885)
Balance, end of year (in shares)	460,141	436,082
Weighted Average Exercise Price Per Share [Abstract]
Balance, beginning of year (in dollars per share)	$ 66.41
Granted (in dollars per share)	66.08
Vested (in dollars per share)	64.34
Canceled (in dollars per share)	67.65
Balance, end of year (in dollars per share)	$ 67.18	$ 66.41