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Shareholders' Equity and Long-Term Incentive Compensation - Long-Term Incentive Compensation Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
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