Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized under stock compensation plan	11.0
Shares available for grant under stock compensation plan	5.2
Share-based compensation expense	$ 10.2	$ 7.6	$ 8.4
Tax benefit from share-based compensation expense	$ 1.9	$ 1.5	$ 1.7
Vesting period	3 years
Weighted average fair value of options granted (usd per share)	$ 12.64	$ 13.54	$ 7.86
Stock options, vested and expected to vest, outstanding (shares)	1.2
Stock options, vested and expected to vest, weighted average exercise price (usd per share)	$ 27.24
Exercisable at end of year (shares)	0.8	1.0	1.5
Stock options, expected to vest (shares)	0.4
Stock options outstanding, aggregate intrinsic value	$ 22.8
Stock options exercisable, aggregate intrinsic value	19.0
Stock options exercised during the period, total intrinsic value	9.7	$ 22.7	$ 13.9
Tax benefit from stock options exercised	2.5	5.7	3.3
Proceeds from stock compensation activity	0.2	4.2	0.6
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	2.1	2.0	1.8
Unrecognized compensation cost	$ 2.8
Weighted-average recognition period for unrecognized compensation cost	1 year 10 months 24 days
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	$ 3.8	2.6	2.5
Unrecognized compensation cost	$ 4.2
Weighted-average recognition period for unrecognized compensation cost	1 year 8 months 12 days
Grant-date fair value of awards vested	$ 2.1	1.9	1.7
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	4.3	3.0	4.1
Unrecognized compensation cost, performance share units	$ 4.7
Weighted-average recognition period for unrecognized compensation cost	1 year 9 months 18 days
Grant-date fair value of awards vested	$ 4.0	$ 2.6	$ 5.4
Minimum \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	0.00%
Maximum \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	200.00%
Vesting Percentage with TSR Modifier	240.00%
Performance-based Restricted Stock Units, 2022 Grants [Member] \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Performance-based Restricted Stock Units, 2021 Grants [Member] \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Performance-based Restricted Stock Units, 2020 Grants \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Vesting percentage	125.00%

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Amount of cash inflow from issuance of shares under share-based payment arrangement. Includes, but is not limited to, option exercised.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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