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Shareholders' Equity (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions | 1 Months Ended | 12 Months Ended | 24 Months Ended
--- | --- | --- | ---
Feb. 28, 2022 | Oct. 31, 2020 | Oct. 31, 2018 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2020
Class of Stock [Line Items] |  |  |  |  |  |  |
Dividends paid |  |  |  | $ 22.4 | $ 21.7 | $ 20.9 |
Cash dividends per share (in dollars per share) |  |  |  | $ 1.08 | $ 1.04 | $ 1.00 |
Stock repurchase program, period in force |  | 2 years | 2 years |  |  |  |
Authorized amount (up to) |  |  | $ 50.0 |  |  |  |
Shares repurchases (in shares) |  |  |  |  | 0.1 | 0.2 | 0.3
Repurchase of common stock |  |  |  | $ 0.0 | $ 5.3 | $ 15.0 | $ 20.3
Stock repurchase program, remaining authorized repurchase amount |  | $ 50.0 |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Cash dividend declared (in dollars per share) | $ 0.28 |  |  |  |  |  |

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