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Stock-Based Compensation, Stock Award and Incentive Plan and Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-Based Compensation [Abstract] |  |  |
Share based compensation costs | $ 11.3 | $ 10.4 | $ 10.7
Stock Options [Member] |  |  |
Stock-Based Compensation [Abstract] |  |  |
Term of stock options granted under Plan | 10 years |  |
Vesting period | 3 years |  |
Share based compensation costs | $ 5.2 | 4.8 | 4.9
Tax benefit of share-based compensation | $ 1.4 | $ 1.3 | $ 1.3
Forfeiture rate assumed | 7.91% | 8.09% | 8.38%
Weighted average grant date fair value for stock options granted (in dollars per share) | $ 25.11 | $ 24.26 | $ 21.62
Weighted average grant date fair value for stock options vested (in dollars per share) | $ 21.56 | $ 19.82 | $ 20.56
Total intrinsic value of stock options exercised | $ 1.0 | $ 2.0 | $ 6.1
Weighted Average Assumptions [Abstract] |  |  |
Expected life | 6 years 4 months 24 days | 6 years 8 months 12 days | 6 years 10 months 24 days
Interest rate | 3.51% | 1.70% | 0.71%
Volatility | 32.05% | 31.92% | 32.04%
Expected dividend yield | 0.30% | 0.28% | 0.31%
Stock Options [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 1,363,418 |  |
Granted (in shares) | 255,620 |  |
Exercised (in shares) | (91,604) |  |
Canceled (in shares) | (12,972) |  |
Expired (in shares) | 0 |  |
Balance, end of year (in shares) | 1,514,462 | 1,363,418 |
Exercisable, end of year (in shares) | 1,054,321 |  |
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 62.22 |  |
Granted (in dollars per share) | 66.08 |  |
Exercised (in dollars per share) | 56.82 |  |
Canceled (in dollars per share) | 67.54 |  |
Expired (in dollars per share) | 0 |  |
Balance, end of year (in dollars per share) | 63.15 | $ 62.22 |
Exercisable, end of year (in dollars per share) | $ 61.39 |  |
Weighted Average Remaining Contractual Life [Abstract] |  |  |
Outstanding options, end of year | 5 years 10 months 13 days |  |
Exercisable options, end of year | 4 years 8 months 26 days |  |
Aggregate Intrinsic Value [Abstract] |  |  |
Outstanding options, end of year | $ 13.8 |  |
Exercisable options, end of year | $ 11.9 |  |
Additional Information [Abstract] |  |  |
Closing stock price on last business day of the period (in dollars per share) | $ 71.31 |  |
Weighted average intrinsic value of options exercised (in dollars per share) | $ 7.78 | $ 16.34 | $ 24.43
Unrecognized stock-based compensation expense | $ 5.6 |  |
Weighted average period over which unrecognized stock-based compensation expense is expected to be recognized | 3 years |  |
Nonvested Stock Options [Member] |  |  |
Stock Options [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 436,082 |  |
Granted (in shares) | 255,620 |  |
Vested (in shares) | (220,676) |  |
Canceled (in shares) | (10,885) |  |
Balance, end of year (in shares) | 460,141 | 436,082 |
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 66.41 |  |
Granted (in dollars per share) | 66.08 |  |
Vested (in dollars per share) | 64.34 |  |
Canceled (in dollars per share) | 67.65 |  |
Balance, end of year (in dollars per share) | $ 67.18 | $ 66.41 |

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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