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Retirement Plans and Postretirement Benefits - Schedule of SERP (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Retirement Benefits [Abstract] |  |  |
Compensation expense | $ 1.3 | $ 1.1 | $ 1.4
Total discretionary contribution | $ 1.7 | $ 1.0 | $ 0.9
Guaranteed annual return | 5.00% | 5.00% | 5.00%

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