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Debt - Additional Information (Details) - USD ($)
 12 Months Ended
Sep. 08, 2023
Aug. 07, 2023
Jun. 30, 2021
May 25, 2021
May 13, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Apr. 28, 2021
Line of Credit Facility [Line Items]                  
Loss from the early extinguishment of debt           $ 0 $ 0 $ (20,184,000)  
Less: Notes payable and current portion of long-term debt           47,132,000 502,440,000    
Cash and cash equivalents           151,937,000 227,438,000    
Committed availability under credit facilities           238,400,000      
Reverse Treasury Lock Contract                  
Line of Credit Facility [Line Items]                  
Net purchase/(sell) position of derivatives                 $ 100,000,000
Loss on derivative, net         $ 1,356,000        
Syndicated term loan due August 2028                  
Line of Credit Facility [Line Items]                  
Maximum borrowing capacity   $ 900,000,000              
Proceeds from lines of credit $ 270,000,000 $ 600,000,000              
Repayments of credit facility           295,000,000      
Debt           572,025,000 $ 0    
Syndicated term loan due August 2028 | SOFR                  
Line of Credit Facility [Line Items]                  
Basis points, adjustment (percent)   0.10%              
Basis points (percent)   1.90%              
5.75% debentures due November 2040                  
Line of Credit Facility [Line Items]                  
Amount offered to be repurchased                 300,000,000
Debt                 $ 600,000,000
Stated interest rate (percent)                 5.75%
Portion of outstanding debt repurchased (percent)       10.53%          
Cash cost of debt repurchased       $ 81,961,000          
Non-cash write-offs, net         73,000        
Loss from the early extinguishment of debt         $ 20,184,000        
Revolving Credit Facility                  
Line of Credit Facility [Line Items]                  
Maximum borrowing capacity   $ 900,000,000 $ 750,000,000     $ 900,000,000      
Debt term     5 years            
Line of credit facility, Increase in commitment   $ 150,000,000              
Revolving Credit Facility | LIBOR                  
Line of Credit Facility [Line Items]                  
Basis points (percent)     1.25%            
Commercial paper, average rate of 1.93% in 2022 and 0.16% in 2021                  
Line of Credit Facility [Line Items]                  
Maximum borrowing capacity     $ 500,000,000