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Shareholders' Equity - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Oct. 31, 2016
Stockholders' Equity Note [Abstract]        
Common stock, shares authorized (in shares) 60,000,000 60,000,000    
Common stock, par value (in dollars per share) $ 0.375 $ 0.375    
Number of shares authorized to be repurchased (in shares) 821,413     1,000,000
Repurchases of common stock $ 21,700,000 $ 5,000,000.0 $ 15,000,000.0  
Repurchases of common stock (in shares) 290,920 79,756    
Average cost per share (in dollars per share) $ 74.57      
Remaining authorized repurchase amount (in shares) $ 821,413