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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-Based Compensation      
Stock-based compensation expense $ 10.5 $ 10.6 $ 6.9
Income tax benefit $ 2.2 $ 2.2 $ 1.5
Minimum      
Stock-Based Compensation      
Sum of age and years of service for accelerated vesting on retirement of certain stock options and restricted stock awards 75 years    
Stock Options      
Stock-Based Compensation      
Vesting period 3 years