Pilot reported a terrain warning occurred during descent and stated complacency could have contributed to the event.

Narrative

We got a caution terrain warning between ZZZ and ZZZ1. Briefed the departure and arrival and the speed at which everything happens. I the Captain was the flying pilot and had changes all the speeds to 210kts so we had plenty of time and were ahead of the jet. Top of climb and top of descent were on top of each other and I didn't get the field elevation set quick enough after getting the checklist completed. Selected V/S (Vertical Speed) to get back in path and I guess my attention went toward the box. I don't think I was totally heads down because the weather was hard VFR; so I am thinking I was more outside visually and not monitoring the automation as much as I should have because after the caution terrain I looked at the speed and we were 270+ and in a pretty aggressive descent. I believe the closure rate to terrain is what gave us the warning. I turned off the autopilot; had my First Officer set the next step down alt and hand flew the approach visually. If we were IFR it would have been a missed approach. I believe I might have got a bit complacent because of the great weather. Do not get complacent when weather is beautiful; there are still a lot of moving parts.