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Employee Benefit Plans - Defined Contribution Plans Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Contribution Plan, Employer Matching Contribution, Percent of Match 50.00%    
Defined Contribution Plan, Maximum Annual Contributions Per Employee, Percent 10.00%    
Defined contribution plans, salaried voluntary savings plan, matching contributions during the period $ 9.4 $ 8.6 $ 8.0
Annual Retirement Contribution (ARC) [Member]      
Defined Contribution Plan, Employer Discretionary Contribution Amount $ 9.9 $ 9.0 $ 8.3
Minimum [Member] | Annual Retirement Contribution (ARC) [Member]      
Defined Contribution Plan, Employer Discretionary Contribution Percentage 3.00%    
Maximum [Member] | Annual Retirement Contribution (ARC) [Member]      
Defined Contribution Plan, Employer Discretionary Contribution Percentage 5.00%