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Stock-Based Compensation - Narrative (Details) - USD ($) $ 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] |  |  |  |
Options expiration period | 10 years |  |  |
Intrinsic value of fully-vested stock options outstanding | $ 0.0 |  |  |
Share-based Payment Arrangement, Exercise of Option, Tax Benefit | 0.1 | $ 0.2 | $ 0.5 |
Stock compensation expense | 9.6 | 8.9 | 7.5 |
Stock Option |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total intrinsic value of options exercised | 0.6 | 1.5 | 3.1 |
Proceeds from Stock Options Exercised | 0.1 | 0.5 | 1.1 |
Common Stock Redeemed For Payment of Stock Option Exercises, Aggregate Value | $ 0.2 | 0.3 | 1.0 |
Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition | 1 year 2 months 26 days |  |  |
Tax benefits from stock-based compensation | $ (0.3) | (0.3) | (0.1) |
Stock issued during period, shares, restricted stock award | 458,176 |  |  | (27,247)
Unrecognized compensation cost related to nonvested restricted stock awards | $ 15.8 |  |  |
Stock compensation expense | $ 9.6 | $ 8.9 | $ 7.5 |
Restricted Stock [Member] | Upon Achievement of Performance Goals |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 263,582 |  |  |
Restricted Stock [Member] | Upon Achievement of Defined Return on Equity Performance Goals |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 131,791 |  |  |
Restricted Stock [Member] | Upon Achievement of Defined Total Return to Shareholder Goals |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 131,791 |  |  |
Restricted Stock [Member] | Time-restricted shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 221,841 |  |  |
Restricted Stock [Member] | One Year from Grant Date |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 38,845 |  |  |
Restricted Stock [Member] | Upon One-Third Annual Anniversary |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock issued during period, shares, restricted stock award | 182,996 |  |  |
2006 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant | 361,605 |  |  |

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