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Stock-Based Compensation - Schedule of Options Granted Under LTIP and TSOP (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Granted |  |  |
Granted (in shares) | 69,580 |  |
Stock options |  |  |
Granted |  |  |
Granted (in shares) | 69,580 | 140,080 | 42,770
Weighted- Average Grant-Date Fair Value |  |  |
Stock options (in dollars per shares) | $ 77.60 | $ 61.32 | $ 62.49
RSUs |  |  |
Granted |  |  |
Awards granted (in shares) | 214,936 | 180,306 | 183,093
Weighted- Average Grant-Date Fair Value |  |  |
Awards granted (in dollars per share) | $ 230.12 | $ 265.21 | $ 240.09
PSUs |  |  |
Granted |  |  |
Awards granted (in shares) | 59,200 | 58,945 | 50,100
Weighted- Average Grant-Date Fair Value |  |  |
Awards granted (in dollars per share) | $ 236.16 | $ 272.22 | $ 240.72

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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