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Stock-Based Compensation - Summary of Stock Awards Outstanding (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restricted Stock Units (RSUs)      
Nonvested RSUs/PSUs      
Balance at period start (in shares) 501,103    
Granted (in shares) 180,306 183,093 178,190
Vested (in shares) (249,138) (260,307) (204,665)
Forfeited (in shares) (44,890)    
Balance at period end (in shares) 387,381 501,103  
Weighted- Average Grant-Date Fair Value      
Balance at period start (in dollars per share) $ 193.23    
Granted (in dollars per share) 265.21 $ 240.09 $ 210.11
Vested (in dollars per share) 168.66    
Forfeited (in dollars per share) 244.99    
Balance at period end (in dollars per share) $ 236.53 $ 193.23  
Performance Share Units (PSUs)      
Nonvested RSUs/PSUs      
Balance at period start (in shares) 202,930    
Granted (in shares) 58,945 50,100 78,830
Vested (in shares) (86,420) (78,727) (235,935)
Unearned (in shares) (260)    
Forfeited (in shares) (32,758)    
Balance at period end (in shares) 142,437 202,930  
Weighted- Average Grant-Date Fair Value      
Balance at period start (in dollars per share) $ 197.33    
Granted (in dollars per share) 272.22 $ 240.72 $ 212.66
Earned (in dollars per share) 161.14    
Unearned (in dollars per share) 161.14    
Forfeited (in dollars per share) 254.83    
Balance at period end (in dollars per share) $ 236.70 $ 197.33