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Stock-based Compensation and Defined Contribution Plans - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions |  | 12 Months Ended
--- | --- | ---
Jul. 01, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Authorized limit of common stock (in shares) |  | 6,500,000 |  |
Maximum annual increase for authorized common stock (in shares) |  | 1,750,000 |  |
Unrecognized compensation cost related to non-vested stock incentive plan arrangements |  | $ 23.0 |  |
Unrecognized compensation cost related to non-vested stock incentive plan arrangements, period for recognition |  | 1 year 8 months 1 day |  |
Defined contribution plan cost |  | $ 7.0 | $ 5.0 | $ 3.0
Performance Share Awards |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Weighted average grant date, fair value, excluding reinvested dividends (in usd per share) |  | $ 53.74 | $ 72.97 |
Grants (in shares) |  | 334,000 |  | 0
Settled (in shares) |  | (167,000) |  | 0
Intrinsic value settled stock |  | $ 9.0 | $ 4.0 |
Performance Share Awards | 2021 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Plan modification, incremental cost | $ 1.0 |  |  |
Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted average grant date, fair value, excluding reinvested dividends (in usd per share) |  | $ 52.66 | $ 52.25 |
Intrinsic value vested stock |  | $ 8.0 | $ 3.3 | $ 0.1
Grants (in shares) |  | 103,000 |  | 0
Restricted Stock Units | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Restricted Stock Units | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 4 years |  |

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