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Share-Based Compensation - Narrative (Details) $ in Millions |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jan. 31, 2024 | Feb. 22, 2024 shares | Dec. 31, 2023 USD ($) share-based_compensation_plan shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of share-based compensation plans (in shares) | share-based_compensation_plan |  |  | 2 |  |
Number of shares authorized (in shares) | shares |  |  | 15,600,000 |  |
Number of shares available for future issuance (in shares) | shares |  |  | 1,700,000 |  |
Net issuance shares of common stock (in shares) | shares |  |  | 230,812 | 216,946 | 228,567
Stock Option |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option exercisable life |  |  | 10 years |  |
Total intrinsic value of options exercised |  |  | $ 14.9 | $ 17.4 | $ 21.4
Proceeds from Stock Options Exercised |  |  | 26.3 | 19.3 | 19.7
Tax benefit realized for the tax deductions from stock options exercised |  |  | 3.1 | $ 3.7 | $ 4.5
Total unrecognized compensation cost |  |  | $ 9.4 |  |
Weighted-average period of total unrecognized compensation cost, in years |  |  | 1 year 4 months 24 days |  |
Dividend yield |  |  | 1.09% | 1.14% | 1.01%
Stock Option | Employees |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period |  |  | 4 years |  |
Restricted Stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period |  |  | 3 years |  |
Total unrecognized compensation cost |  |  | $ 6.9 |  |
Weighted-average period of total unrecognized compensation cost, in years |  |  | 1 year 1 month 6 days |  |
Cash-settled Restricted Stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period |  |  | 3 years |  |
Total unrecognized compensation cost |  |  | $ 4.1 |  |
Weighted-average period of total unrecognized compensation cost, in years |  |  | 1 year |  |
Share based compensation, accrued expenses |  |  | $ 4.2 | $ 4.8 |
Share based compensation, other noncurrent liabilities |  |  | 2.9 | $ 2.8 |
Performance Shares Units |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Total unrecognized compensation cost |  |  | $ 2.5 |  |
Weighted-average period of total unrecognized compensation cost, in years |  |  | 1 year |  |
Award requisite service period |  |  | 3 years |  |
Dividend yield |  |  | 0.00% | 0.00% | 0.00%
Performance Shares Units | Subsequent Event |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Share-based compensation arrangement by share-based payment award, payout percent | 5000.00% |  |  |  |
Net issuance shares of common stock (in shares) | shares |  | 9,606 |  |  |
Performance Shares Units | Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Target award |  |  | 0.00% |  |
Performance Shares Units | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Target award |  |  | 250.00% |  |
Target payout |  |  | 100.00% |  |

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