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Stock-based Compensation and Defined Contribution Plans - Restricted Stock Unit and Performance Share Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Weighted- Average Grant Date Fair Value      
Settled (in dollars per share) $ 34.83    
Restricted Stock Units      
Restricted Stock Units/Performance Shares      
Beginning balance (in shares) 468,000    
Grants (in shares) 103,000   0
Forfeitures (in shares) (5,000)    
Vested (in shares) (149,000)    
Ending balance (in shares) 417,000 468,000  
Weighted- Average Grant Date Fair Value      
Beginning balance (in dollars per share) $ 43.28    
Grants (in dollars per share) 51.28    
Forfeitures (in dollars per share) 47.80    
Vested and issued (in dollars per share) 41.52    
Ending balance (in dollars per share) $ 45.68 $ 43.28  
Intrinsic value vested stock $ 8.0 $ 3.3 $ 0.1
Performance Share Awards      
Restricted Stock Units/Performance Shares      
Beginning balance (in shares) 409,000    
Grants (in shares) 334,000   0
Forfeitures (in shares) (19,000)    
Settled (in shares) (167,000)   0
Ending balance (in shares) 557,000 409,000  
Weighted- Average Grant Date Fair Value      
Beginning balance (in dollars per share) $ 56.55    
Grants (in dollars per share) 59.02    
Forfeitures (in dollars per share) 62.31    
Ending balance (in dollars per share) $ 64.36 $ 56.55