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Stock-Based Compensation - Schedule of Restricted Stock Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock compensation expense | $ 9.6 | $ 8.9 | $ 7.5 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Vested, number of shares | (22,684) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |  |
Ending Balance | $ 3,073.8 | 1,986.6 | 1,959.8 | $ 2,013.9
Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 458,176 |  |  | (27,247)
Stock compensation expense | $ 9.6 | $ 8.9 | 7.5 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Restricted stock, beginning of year, number of shares | 521,012 |  |  |
Granted, number of shares | 458,176 |  |  |
Vested, number of shares | (131,199) |  |  |
Forfeited, number of shares | (106,891) |  |  |
Restricted stock, end of year, number of shares | 741,098 | 521,012 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |  |
Restricted stock, beginning of year, weighted-average measurement date fair value (in dollars per share) | $ 39.73 |  |  |
Granted, weighted average grant date fair value (in dollars per share) |  | $ 38.67 |  |
Vested, weighted average grant date fair value (in dollars per share) |  | 39.92 |  |
Forfeited, weighted average grant date fair value (in dollars per share) |  | 38.61 |  |
Restricted stock, end of year, weighted-average measurement date fair value (in dollars per share) | $ 38.94 | $ 39.73 |  |
Tax benefits from stock-based compensation | $ (0.3) | $ (0.3) | (0.1) |
Unrecognized compensation cost related to nonvested restricted stock awards | $ 15.8 |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition | 1 year 2 months 26 days |  |  |
Common Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock compensation expense | $ 9.6 | 8.9 | 7.5 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |  |
Ending Balance | $ 2,478.2 | $ 945.0 | $ 941.1 | $ 1,049.3
Upon Achievement of Defined Total Return to Shareholder Goals | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 131,791 |  |  |
Upon One-Third Annual Anniversary | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 182,996 |  |  |
Upon Achievement of Performance Goals | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 263,582 |  |  |
Upon Achievement of Defined Return on Equity Performance Goals | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 131,791 |  |  |
One Year from Grant Date | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 38,845 |  |  |
Time-restricted shares | Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 221,841 |  |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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