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Stock-Based Compensation Plans - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Long-Term Incentive Plan |  |  |
Cash received from exercise of stock options | $ 0.2 | $ 9.5 | $ 11.6
Tax benefit from exercise of stock options |  | 0.2 | 0.6
Intrinsic value of stock options exercised |  | $ 0.8 | $ 2.8
Volatility (as a percent) | 27.80% | 29.90% | 29.10%
Options granted (shares) | 1,000,000 |  |
Expected term (in years) | 7 years 2 months 23 days | 7 years 3 months 10 days | 7 years 10 days
Chief Executive Officer |  |  |
Long-Term Incentive Plan |  |  |
Expected term (in years) | 7 years | 7 years | 7 years
Non-executive employees |  |  |
Long-Term Incentive Plan |  |  |
Options granted (shares) | 0 | 0 | 0
Director |  |  |
Long-Term Incentive Plan |  |  |
Expected term (in years) | 8 years | 8 years | 8 years
Employee Stock Option |  |  |
Long-Term Incentive Plan |  |  |
Unrecognized compensation cost | $ 2.8 |  |
Weighted average recognition period | 2 years 4 months 24 days |  |
Expected term (in years) | 10 years |  |
Employee Stock Option | Employees |  |  |
Long-Term Incentive Plan |  |  |
Award expiration period | 10 years |  |
Award vesting period | 4 years |  |
Award vesting (as a percent) | 25.00% |  |
Restricted Stock Units | Employees |  |  |
Long-Term Incentive Plan |  |  |
Award vesting period | 3 years |  |
Restricted Stock Units | Employees | Tranche One |  |  |
Long-Term Incentive Plan |  |  |
Award vesting period | 3 years |  |
Restricted Stock Units | Employees | Tranche Two |  |  |
Long-Term Incentive Plan |  |  |
Award vesting period | 4 years |  |
Financial PSUs |  |  |
Long-Term Incentive Plan |  |  |
Award vesting (as a percent) | 100.00% |  |
Financial PSUs | Minimum |  |  |
Long-Term Incentive Plan |  |  |
Stock units granted that recipients receive as performance based restricted stock units (as a percent) | 0.00% | 0.00% |
Financial PSUs | Maximum |  |  |
Long-Term Incentive Plan |  |  |
Stock units granted that recipients receive as performance based restricted stock units (as a percent) | 200.00% | 200.00% |
TSR PSUs |  |  |
Long-Term Incentive Plan |  |  |
Award vesting (as a percent) | 100.00% |  |
RSUs and PSUs |  |  |
Long-Term Incentive Plan |  |  |
Unrecognized compensation cost | $ 47.1 |  |
Weighted average recognition period | 2 years 1 month 6 days |  |
2015 LTIP |  |  |
Long-Term Incentive Plan |  |  |
Shares available for grant (shares) | 10,500,000 |  |
2015 LTIP | Non-employee Director |  |  |
Long-Term Incentive Plan |  |  |
Award vesting period | 1 year |  |
2015 LTIP | Employee Stock Option | Former CEO |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award stock option awards (as a percent) | 20.00% | 20.00% |
2015 LTIP | Employee Stock Option | Non-employee Director |  |  |
Long-Term Incentive Plan |  |  |
Award expiration period | 10 years |  |
2015 LTIP | Restricted Stock Units | Executives Officers excluding CEO |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award restricted stock units (as a percent) | 40.00% | 40.00% |
2015 LTIP | Restricted Stock Units | Former CEO |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award restricted stock units (as a percent) | 20.00% | 20.00% |
2015 LTIP | Restricted Stock Units | Senior Vice Presidents |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award restricted stock units (as a percent) | 50.00% | 50.00% |
2015 LTIP | Financial PSUs | Executives Officers excluding CEO |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award performance based restricted stock units (as a percent) | 60.00% | 60.00% |
2015 LTIP | Financial PSUs | Former CEO |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award performance based restricted stock units (as a percent) | 60.00% | 60.00% |
2015 LTIP | Financial PSUs | Senior Vice Presidents |  |  |
Long-Term Incentive Plan |  |  |
Long-term incentive award performance based restricted stock units (as a percent) | 50.00% | 50.00% |

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