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Stock Plans (Details Textual)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
d
$ / shares
shares
Dec. 31, 2022
USD ($)
d
$ / shares
shares
Dec. 31, 2021
USD ($)
d
$ / shares
shares
Share-based compensation plans [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | shares 3,900,000    
Allocated Share-based Compensation Expense $ 53.7 $ 44.1 $ 36.5
Employee Service Share-based Compensation, Tax Benefit from Compensation Expense $ 4.0 3.4 4.1
Share-based compensation plans [Member] | Minimum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period 3 years    
Share-based compensation plans [Member] | Maximum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period 5 years    
Employee Stock Option      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Requisite Service Period 10 years    
Proceeds from Stock Options Exercised $ 5.4 5.9 7.8
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Total Intrinsic Value 6.3 $ 12.8 $ 27.7
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized $ 45.1    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 4 years    
Employee service share-based compensation, nonvested awards, overall weighted-average period 3 years 1 month 6 days    
Number of Shares, Granted | shares 595,777    
Employee Stock Option | Valuation Technique, Black-Scholes-Merton, Option Pricing or Monte Carlo Simulation Model [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period 5 years 4 years 4 years
Number of Shares, Granted | shares 596,127 411,648 331,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Threshold Percentage of Stock Price Trigger for Vesting 10.00% 10.00% 10.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Threshold Consecutive Trading Days for Vesting | d 30 30 30
Restricted Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Total Fair Value $ 14.8 $ 9.3 $ 13.8
Weighted Average Grant Date Fair Value Per Share, Granted | $ / shares $ 92.76 $ 91.47 $ 115.85
Time-based restricted stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized $ 16.6    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 2 years 11 months 8 days    
Performance-based Restricted Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized $ 28.8    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 1 year 10 months 6 days