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Stock-Based Compensation, Deferred Restricted Stock Units (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
Deferred Restricted Stock Unit [Member]      
Stock-Based Compensation [Abstract]      
Unrecognized stock-based compensation expense $ 6.9    
Weighted average period over which unrecognized stock-based compensation expense is expected to be recognized 3 years    
Share based compensation costs $ 6.0 5.7 5.9
Reversals of compensation expense related to restricted stock forfeitures $ 2.7 $ 2.7 $ 2.6
Restricted Stock [Roll Forward]      
Balance, beginning of year (in shares) 176,594 196,133 201,985
Granted (in shares) 102,843 98,464 102,309
Vested (in shares) (46,141) (52,441) (51,497)
Canceled (in shares) (45,946) (65,562) (56,664)
Balance, end of year (in shares) 187,350 176,594 196,133
Weighted Average Grant Date Fair Value [Abstract]      
Balance, beginning of year (in dollars per share) $ 66.32 $ 60.87 $ 58.07
Granted (in dollars per share) 66.01 69.7 66.2
Vested (in dollars per share) 64.25 58.92 60.4
Canceled (in dollars per share) 64.33 61 60.98
Balance, end of year (in dollars per share) $ 67.15 $ 66.32 $ 60.87