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Shareholders' Equity and Long-Term Incentive Compensation - Long-Term Incentive Compensation Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock-based Compensation |  |  |
Historical period upon which annual expected stock price volatility is based (years) | 3 years |  |
Minimum |  |  |
Stock-based Compensation |  |  |
Daily treasury yield curve period upon which average risk-free interest rate is based (years) | 1 year |  |
Maximum |  |  |
Stock-based Compensation |  |  |
Maximum period over which the fair value of restricted stock shares and restricted stock units are amortized | 3 years |  |
Daily treasury yield curve period upon which average risk-free interest rate is based (years) | 3 years |  |
Maximum | 2019 Stock Compensation Plan |  |  |
Stock-based Compensation |  |  |
Shares available for grant (in shares) | 3,851,000 |  |
Restricted stock shares and restricted stock units | 2019 Stock Compensation Plan |  |  |
Stock-based Compensation |  |  |
Reduction of shares available for grant (in shares) | 2 |  |
Vesting period (years) | 1 year | 1 year | 1 year
PSU's, RSU's |  |  |
Stock-based Compensation |  |  |
Unrecognized compensation cost related to PSUs, RSUs, and RSs | $ 9.8 |  |
PSU's, RSU's | Minimum |  |  |
Stock-based Compensation |  |  |
Vesting period (years) | 1 year |  |
PSU's, RSU's | Maximum |  |  |
Stock-based Compensation |  |  |
Vesting period (years) | 3 years |  |
PSU's, RSU's | Weighted Average |  |  |
Stock-based Compensation |  |  |
Weighted-average period over which unrecognized compensation costs will be recognized | 1 year 10 months 24 days |  |
PSU's |  |  |
Stock-based Compensation |  |  |
Vesting period (years) | 3 years |  |
PSU's, RSU's, RS's, and Stock Options |  |  |
Stock-based Compensation |  |  |
Long-term incentive compensation expense | $ 10.9 | $ 12.9 | $ 12.0
Related tax benefit | 1.7 | 2.2 | $ 2.0
Long Term Cash Awards |  |  |
Stock-based Compensation |  |  |
Vesting period (years) |  |  | 3 years
Long-term incentive compensation expense | $ 0.0 | $ (0.1) | $ 1.1

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