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Shareholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions | 1 Months Ended | 3 Months Ended | 9 Months Ended
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Oct. 31, 2023 | Feb. 28, 2023 | Oct. 31, 2022 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Dividends paid |  |  |  |  |  |  |  |  |  | $ 18.3 | $ 17.6
Cash dividends per share, declared (in dollars per share) |  |  |  | $ 0.29 | $ 0.29 | $ 0.29 | $ 0.28 | $ 0.28 | $ 0.28 |  |
Shares authorized for repurchase (in shares) |  |  | 50.0 |  |  |  |  |  |  |  |
Shares authorized for repurchase, authorization period (in years) |  |  | 2 years |  |  |  |  |  |  |  |
Shares authorized for repurchase, vesting period (in years) |  |  |  |  |  |  |  |  |  | 3 years |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Cash dividends per share, declared (in dollars per share) | $ 0.29 |  |  |  |  |  |  |  |  |  |
Employee Stock Options |  |  |  |  |  |  |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Average expected term (in years) |  |  |  |  |  |  |  |  |  | 6 years |
Fair value (in dollars per share) |  | $ 45.13 |  |  |  |  |  |  |  |  |
Key Executives |  |  |  |  |  |  |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Options issued (in shares) |  | 0.1 |  |  |  |  |  |  |  |  |
Exercise price (in dollars per share) |  | $ 116.69 |  |  |  |  |  |  |  |  |
Option term (in years) |  | 10 years |  |  |  |  |  |  |  |  |

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