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Shareholders' Equity - Dividends and Stock Repurchase Programs (Details) - USD ($)
$ / shares in Units, shares in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
May 31, 2019
Oct. 31, 2017
Equity [Abstract]          
Cash dividends declared (in dollars per share) $ 0.48 $ 0.40 $ 0.36    
Cash dividends declared $ 30,000,000.0 $ 25,500,000 $ 23,600,000    
Authorized amount       $ 200,000,000 $ 100,000,000
Increase to repurchase program       $ 100,000,000  
Amount available to repurchase shares under stock repurchase program $ 195,800,000        
Shares repurchased (in shares) 1.7 2.6 2.1    
Amount of shares repurchased $ 50,500,000 $ 68,300,000 $ 65,400,000