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Stock Based Compensation Stock Based Compensation (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized 4,217,436    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant 1,150,922    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Total Intrinsic Value $ 45,200,000 $ 1,000,000 $ 15,300,000
Share-based Payment Arrangement, Expense 7,500,000 $ 5,400,000 $ 4,600,000
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized $ 17,500,000    
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized, Period for Recognition 2 years 2 months 12 days    
Non-employee Director Restricted Stock Units Awarded 2,894    
Restricted Stock Units Awarded Under the 2018 LTIP Plan 20,258 35,195 20,370
Value of Stock Units Awarded Under the 2018 LTIP Plan $ 1,500,000 $ 1,400,000 $ 900,000
Total Numbner of Units Outstanding Under the 2006 Director Equity Plan 8,059    
Value of Units Outstanding Under the 2006 Director Equity Plan $ 200,000    
Deferred Compensation Liability, Current and Noncurrent 900,000 1,100,000 300,000
Stock or Unit Option Plan Expense $ (500,000) $ (400,000) $ (300,000)
Total Stock Units Outstanding Under All Stock Option Plans 52,552    
Total Value of Units Outstanding Under All Stock Option Plans $ 2,400,000    
Deferred Compensation Equity 7,200,000    
Deferred Tax Assets, Tax Deferred Expense, Compensation and Benefits, Employee Benefits $ 2,200,000