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Share-Based Payments - Textual (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted-average fair value per share (in dollars per share) $ 17.29 $ 19.21 $ 15.48
Unrecognized compensation cost $ 1,500,000    
Intrinsic value of stock options exercised 1,800,000 $ 100,000 $ 2,300,000
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 1,200,000 2,200,000 1,500,000
Expiration period 10 years    
Vesting period 3 years    
Weighted-average recognition period for unrecognized compensation cost 23 months    
Restricted Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 26,400,000 $ 24,900,000 $ 22,000,000
Weighted-average recognition period for unrecognized compensation cost 20 months    
Award requisite service period 3 years    
Weighted-average fair value per share of awards granted (in dollars per share) $ 74.08 $ 73.89 $ 61.81
Unrecognized compensation cost related to unvested restricted stock $ 30,000,000    
Fair value of vested shares $ 20,000,000 $ 32,600,000 $ 41,400,000
Awards issued during period (in shares) 425,000    
Restricted Stock Units (RSUs) | Non-employee Directors      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted-average fair value per share of awards granted (in dollars per share) $ 67.42 $ 84.83 $ 65.39
Awards issued during period (in shares) 22,469 24,043 32,196
Compensation expense $ 1,500,000 $ 2,000,000 $ 2,100,000
Unrecognized compensation cost $ 0    
Number of remaining shares (in shares) 775,312    
Restricted Stock Units (RSUs) | Current And Former Board Of Directors      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards issued during period (in shares) 130,406    
Dividend Equivalent, RSU | Non-employee Directors      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards issued during period (in shares) 11,976 8,577 8,987
2016 Omnibus Performance Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares authorized for grant under the Plan (in shares) 16,860,765    
Continuing Operations      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 29,200,000 $ 29,100,000 $ 25,600,000
Discontinued Operations      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 2,500,000 $ 3,600,000 $ 3,900,000