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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax [Line Items]        
Income tax expense $ 30.5 $ 17.0 $ 28.5  
Change in valuation allowance (4.1)      
Change excess tax benefits from stock compensation activity $ (3.2) $ 2.0    
Effective income tax rate 20.20% 14.50% 22.90%  
Income taxes paid $ 26.9 $ 35.5 $ 22.3  
Statutory federal income tax rate 21.00% 21.00% 21.00%  
Deferred tax asset, state net operating loss carryforwards $ 5.4 $ 6.5    
Deferred tax asset, foreign net operating loss carryforwards 9.7 9.8    
Deferred tax asset, state tax tax credit carryforwards 0.3 0.3    
Deferred tax asset, U.S. foreign tax credits carryforwards 2.6 2.8    
Total deferred tax assets 68.4 62.0    
Valuation allowance 1.0 5.1    
Accrual for interest and penalties 0.4 0.4    
Reserves for unrecognized tax benefits, including interest and penalties 1.6 1.6    
Unrecognized tax benefits 1.2 1.2 $ 1.2 $ 1.3
Tax Benefit From Remeasurement of Deferred Taxes For Changes in State Tax Apportionment   3.3    
Other Deferred Tax Assets        
Income Tax [Line Items]        
Valuation allowance 0.3      
U.S. state        
Income Tax [Line Items]        
Change in valuation allowance   3.4    
Valuation allowance 0.7      
U.S. federal        
Income Tax [Line Items]        
Change in valuation allowance 2.6      
Foreign        
Income Tax [Line Items]        
Change in valuation allowance 1.1      
Deferred tax liabilities        
Income Tax [Line Items]        
Unrecognized tax benefits $ 0.1 $ 0.1