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Share-Based Compensation - Performance Restricted Stock Units Narrative (Details)
shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
metric
shares
Dec. 31, 2022
USD ($)
entity
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2020
shares
PRSUs        
Share-based compensation        
Number of restricted stocks units granted (in shares) | shares 282 341 189  
Net reduction in number of awards with performance against target (in shares) | shares 305 285 56  
Unvested restricted stock units outstanding (in shares) | shares 60 371 388 333
PRSUs | Executive and senior officers        
Share-based compensation        
Performance payout period 1 year 1 year    
Number of metrics | entity   3    
Average share price trading period   20 days 20 days  
Share price, last day in trading period   20 days 20 days  
Requisite service period 5 years      
Recognized share-based compensation expense | $ $ 0.7 $ 1.2 $ 1.4  
Unrecognized compensation cost, net of estimated forfeitures, related to restricted stock unit awards | $ $ 0.2      
Weighted-average period over which unrecognized compensation cost is expected to be recognized 1 year 6 months      
Income tax benefit recognized on share-based compensation | $ $ 0.8 $ 1.6 $ 1.4  
Vesting period 4 years      
PRSUs | Executive and senior officers | Minimum        
Share-based compensation        
Target award percentage 0.00%      
PRSUs | Executive and senior officers | Maximum        
Share-based compensation        
Target award percentage 200.00%      
PRSUs | Executive Officer        
Share-based compensation        
Number of metrics | metric 3      
Restricted Stock Units        
Share-based compensation        
Number of restricted stocks units granted (in shares) | shares 606 687 528  
Unvested restricted stock units outstanding (in shares) | shares 1,184 1,415 1,208 1,076
Recognized share-based compensation expense | $ $ 4.9 $ 3.7 $ 3.5  
Unrecognized compensation cost, net of estimated forfeitures, related to restricted stock unit awards | $ $ 6.9      
Weighted-average period over which unrecognized compensation cost is expected to be recognized 2 years 6 months      
Vesting period 4 years      
Restricted Stock Units | Executive and senior officers        
Share-based compensation        
Dividend yield   0.00%