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Share-Based Compensation Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ 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] |  |  |  |
Share-based compensation | $ 37.6 | $ 36.8 | $ 24.2 |
Consideration received from share-based awards | $ 0.3 | $ 5.1 | $ 7.4 |
Number of shares granted | 0 | 130,000 | 156,000 |
Number of shares outstanding | 852,000 | 852,000 | 788,000 | 723,000
Selling and Administrative Expenses |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 37.6 | $ 36.8 | $ 24.2 |
United States |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Income tax benefit recognized related to share-based compensation | 2.6 | 1.6 | 1.7 |
Non US |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 1.3 | 1.6 | 1.3 |
Minimum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Performance period range | 1 year |  |  |
Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Performance period range | 3 years |  |  |
Stock option |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 0.8 | 2.9 | 3.3 |
Share-based payment award vesting period | 4 years |  |  |
Expiration period | 10 years |  |  |
Fair value of options vested | $ 2.8 | $ 2.6 | $ 2.3 |
Total unrecognized compensation cost, net of estimated forfeitures | $ 0.7 |  |  |
Total unrecognized compensation cost, weighted-average period for recognition | 2 years |  |  |
Weighted average of daily historical volatility of Company's stock price, weight (as a percent) | 75.00% |  |  |
Period considered to determine expected volatility of stock price | 5 years |  |  |
Implied volatility based on exchange traded options for Company's common stock, weight (as a percent) | 25.00% |  |  |
Weighted-average grant-date fair value of options granted (in dollars per share) |  | $ 22.83 | $ 18.95 |
Stock option | Minimum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Purchase price (as a percent) | 100.00% |  |  |
Stock Appreciation Rights |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares granted | 0 | 0 |  |
Number of shares outstanding | 0 | 0 |  |
Deferred Stock | In Lieu of Annual Cash Retainer |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Granted (in shares) | 4,775 | 1,086 | 1,432 |
Deferred Stock | Additional Compensation for Board Service |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 1.8 | $ 1.7 | $ 1.3 |
Share-based payment award vesting period | 1 year |  |  |
Expiration period | 3 years |  |  |
Granted (in shares) | 12,698 | 15,528 | 11,004 |
Restricted Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 19.1 | $ 15.6 | $ 15.7 |
Total unrecognized compensation cost, net of estimated forfeitures | $ 16.8 |  |  |
Total unrecognized compensation cost, weighted-average period for recognition | 2 years |  |  |
Granted (in shares) | 245 | 208,000 | 200,000 |
Forfeited (in shares) | 25 | 23,000 | 17,000 |
Term for restrictions to lapse | 6 years |  |  |
Restricted Stock | Additional Compensation for Board Service |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 7,192.0 | $ 7,764.0 | $ 7,208.0 |
Forfeited (in shares) | 1,258 |  |  |
Performance Shares |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation | $ 15.6 | $ 16.3 | $ 3.7 |

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