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Retirement Plans - Components of Defined Benefit Pension and Post-retirement Benefit Plans (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Change in plan assets      
Company contributions $ 0 $ 0 $ 0
Pensions      
Change in projected benefit obligation      
Beginning balance 45,000,000.0 45,000,000.0  
Service cost 1,500,000 1,700,000 1,600,000
Interest cost 1,200,000 1,100,000 1,200,000
Actuarial loss (gain) (14,200,000) (2,100,000)  
Plan amendments 500,000 300,000  
Benefit payments (1,200,000) (1,000,000.0)  
Ending balance 32,800,000 45,000,000.0 45,000,000.0
Change in plan assets      
Beginning balance, fair value of plan asset 31,800,000 31,200,000  
Actual return on plan assets (7,800,000) 1,400,000  
Company contributions 300,000 200,000  
Benefit payments (1,200,000) (1,000,000.0)  
Ending balance, fair value of plan asset 23,100,000 31,800,000 31,200,000
Net Funded Status of the Plan (Liability) (9,700,000) (13,200,000)  
Pension and other postretirement benefit asset 0 0  
Pension and other postretirement benefit (liability) (9,700,000) (13,200,000)  
Other Benefits      
Change in projected benefit obligation      
Beginning balance 900,000 1,000,000.0  
Service cost 0 0 0
Interest cost 0 0 0
Actuarial loss (gain) (100,000) (100,000)  
Plan amendments (100,000) 0  
Benefit payments 0 0  
Ending balance 700,000 900,000 1,000,000.0
Change in plan assets      
Beginning balance, fair value of plan asset 0 0  
Actual return on plan assets 0 0  
Company contributions 0 0  
Benefit payments 0 0  
Ending balance, fair value of plan asset 0 0 $ 0
Net Funded Status of the Plan (Liability) (700,000) (900,000)  
Pension and other postretirement benefit asset 0 0  
Pension and other postretirement benefit (liability) $ (700,000) $ (900,000)  
Qualified Plan | Pensions      
Defined Benefit Plan Disclosure      
Discount rate 5.00% 2.75%  
Qualified Plan | Other Benefits      
Defined Benefit Plan Disclosure      
Discount rate 0.00% 0.00%  
Nonqualified Plan | Pensions      
Defined Benefit Plan Disclosure      
Discount rate 5.00% 2.65%  
Nonqualified Plan | Other Benefits      
Defined Benefit Plan Disclosure      
Discount rate 4.90% 2.60%