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Stock Options - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			12 Months Ended
	May 02, 2019	May 07, 2015	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Option term (years)			10 years
Qualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average grant date fair value of options granted (in dollars per share)			$ 52.7	$ 59.01	$ 38.33
Stock option expense			$ 0.6	$ 0.6	$ 0.5
Total unrecognized compensation cost related to non-vested share-based compensation arrangements			$ 1.3
Period cost is expected to be recognized (years)			5 years
Granted (in shares)			17,625	18,900	13,950
Exercise of stock options (in shares)			14,780	30,210	31,300
Non Qualified Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock option expense			$ 0.0	$ 0.0	$ 0.0
Total unrecognized compensation cost related to non-vested share-based compensation arrangements			$ 0.0
Granted (in shares)			0	0	0
Exercise of stock options (in shares)			1,000	1,000	2,300
Proceeds from stock options exercised			$ 0.1	$ 0.1	$ 0.1
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock option expense			4.9	$ 5.4	$ 3.7
Total unrecognized compensation cost related to non-vested share-based compensation arrangements			$ 7.0
Weighted average remaining contractual life (years)			1 year 4 months 28 days	1 year 7 months 9 days	1 year 11 months 12 days
Restricted Stock Units (RSUs) \| Granted after 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)					3 years
Restricted Stock Units (RSUs) \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)			3 years
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award			50.00%
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award			50.00%
Performance period			3 years
Option term (years)			3 years
2015 ISO Plan \| Qualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of common stock reserved for options to be issued (in shares)		400,000
2015 ISO Plan \| Qualified Stock Options \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)		1 year
2015 ISO Plan \| Qualified Stock Options \| Year One after Grant Date \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Two after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Three after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Four after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Five after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2009 Equity Incentive Plan \| Non Qualified Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of common stock reserved for options to be issued (in shares)	500,000
2009 Equity Incentive Plan \| Non Qualified Options \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	1 year
2009 Equity Incentive Plan \| Non Qualified Options \| Year One after Grant Date \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Two after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Three after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Four after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Five after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%