Employee Benefit Plans - Stock Compensation Plans (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Stock options outstanding number of shares, balance (in shares)	470,000	473,000	658,000
Stock options outstanding number of shares, granted (in shares)	0	0	0
Stock options outstanding number of shares, stock options exercised (in shares)	(900)	(2,750)	(184,888)
Stock options outstanding number of shares, forfeited/expired (in shares)	(22,000)	0	0
Stock options outstanding number of shares, balance (in shares)	447,000	470,000	473,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Stock options outstanding weighted average exercise price, balance (in dollars per share)	$ 22.56	$ 22.50	$ 22.48
Stock options outstanding weighted average exercise price, granted (in dollars per share)	0	0	0
Stock options outstanding weighted average exercise price, exercised (in dollars per share)	10.65	13.30	22.42
Stock options outstanding weighted average exercise price, forfeited/expired (in dollars per share)	22.87	0	0
Stock options outstanding weighted average exercise price, balance (in dollars per share)	$ 22.56	$ 22.56	$ 22.50
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Stock options outstanding number of shares, exercisable (in shares)	447,000
Stock options outstanding weighted average exercise price, exercisable (in dollars per share)	$ 22.56
Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Stock awards/units outstanding number of shares, balance (in shares)	0	2,000	5,000
Stock awards/units outstanding number of shares, granted (in shares)	0	0	0
Stock options outstanding number of shares, stock awards/units vested (in shares)	0	(2,000)	(3,000)
Stock awards/units outstanding number of shares, forfeited/expired (in shares)			0
Stock awards/units outstanding number of shares, balance (in shares)	0	0	2,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Stock awards/units outstanding weighted average grant-date fair-value, balance (in dollars per share)	$ 0	$ 0	$ 22.20
Stock awards/units outstanding weighted average grant-date fair-value, granted (in dollars per share)	0	0	0
Stock awards/units outstanding weighted average grant-date fair-value, vested (in dollars per share)	0	22.20	22.48
Stock awards/units outstanding weighted average grant-date fair-value, forfeited/expired (in dollars per share)			0
Stock awards/units outstanding weighted average grant-date fair-value, balance (in dollars per share)	$ 0	$ 22.20	$ 22.35
Stock Units
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Stock awards/units outstanding number of shares, balance (in shares)	1,197,000	1,185,000	1,032,000
Stock awards/units outstanding number of shares, granted (in shares)	798,000	719,000	674,000
Stock options outstanding number of shares, stock awards/units vested (in shares)	(490,000)	(609,000)	(434,000)
Stock awards/units outstanding number of shares, forfeited/expired (in shares)	(232,000)	(98,000)	(87,000)
Stock awards/units outstanding number of shares, balance (in shares)	1,273,000	1,197,000	1,185,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Stock awards/units outstanding weighted average grant-date fair-value, balance (in dollars per share)	$ 24.23	$ 26.63	$ 26.51
Stock awards/units outstanding weighted average grant-date fair-value, granted (in dollars per share)	21.15	26.42	28.94
Stock awards/units outstanding weighted average grant-date fair-value, vested (in dollars per share)	24.73	26.30	25.61
Stock awards/units outstanding weighted average grant-date fair-value, forfeited/expired (in dollars per share)	24.81	25.68	25.86
Stock awards/units outstanding weighted average grant-date fair-value, balance (in dollars per share)	$ 26.63	$ 26.51	$ 24.53
Performance Stock Units
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Stock awards/units outstanding number of shares, balance (in shares)	352,000	331,000	222,000
Stock awards/units outstanding number of shares, granted (in shares)	302,000	184,000	171,000
Stock options outstanding number of shares, stock awards/units vested (in shares)	(72,000)	(149,000)	(57,000)
Stock awards/units outstanding number of shares, forfeited/expired (in shares)	(90,000)	(14,000)	(5,000)
Stock awards/units outstanding number of shares, balance (in shares)	492,000	352,000	331,000

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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-Section 50
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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