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Stockholders' Equity - Additional Information (Details) - USD ($)
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Mar. 31, 2020
Class of Stock [Line Items]          
Common stock, shares authorized   90,000,000      
Common stock, par value (usd per share)   $ 1      
Common stock, shares issued   70,000,000 69,500,000    
Common stock, shares outstanding   61,000,000 60,700,000    
Preference stock, shares authorized   800,000      
Preference stock, par value (usd per share)   $ 1      
Cash dividends declared per common share (usd per share)   $ 0.39 $ 0.36 $ 0.36  
Shares acquired   93,551 472,381 361,804  
Purchases of treasury stock   $ 5,500,000 $ 16,100,000 $ 15,400,000  
Cash dividends paid to stockholders   $ 23,800,000 $ 21,800,000 $ 22,000,000  
Subsequent Event          
Class of Stock [Line Items]          
Cash dividends declared per common share (usd per share) $ 0.12        
March 2020 Repurchase Program          
Class of Stock [Line Items]          
Share repurchase program, authorized amount         $ 75,000,000