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Capital Stock (Details)
 12 Months Ended
Dec. 31, 2023
USD ($)
vote
$ / shares
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
shares
May 31, 2022
USD ($)
Schedule of Components of Common Stock [Line Items]        
Number of votes per common share | vote 1      
Preferred stock, shares authorized (in shares) 3,000,000 3,000,000    
Preferred stock, shares issued (in shares) 0 0    
Acquisition of treasury stock | $ $ 56,000,000.0 $ 35,800,000 $ 38,100,000  
Shares withheld for tax withholding obligation (in shares) 400,000 500,000 400,000  
Shares withheld for tax withholding obligation | $ $ 9,300,000 $ 10,900,000 $ 13,500,000  
Series A Junior Participating Preferred        
Schedule of Components of Common Stock [Line Items]        
Preferred stock, shares authorized (in shares) 200,000      
Preferred stock, number of votes | vote 1,000      
Preferred stock, shares issued (in shares) 0      
2022 Repurchase Program        
Schedule of Components of Common Stock [Line Items]        
Stock repurchase program, authorized amount | $       $ 100,000,000
Acquisition of treasury stock (in shares) 2,900,000      
Stock repurchased, average cost per share (in dollars per share) | $ / shares $ 16.37      
Acquisition of treasury stock | $ $ 46,300,000