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Stock-Based Compensation - Summary of Stock Awards Outstanding (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restricted Stock Units (RSUs)      
Nonvested RSUs/PSUs      
Balance at period start (in shares) 387,381    
Granted (in shares) 214,936 180,306 183,093
Vested (in shares) (157,417) (249,138) (260,307)
Forfeited (in shares) (11,042)    
Balance at period end (in shares) 433,858 387,381  
Weighted- Average Grant-Date Fair Value      
Balance at period start (in dollars per share) $ 236.53    
Granted (in dollars per share) 230.12 $ 265.21 $ 240.09
Vested (in dollars per share) 220.04    
Forfeited (in dollars per share) 241.50    
Balance at period end (in dollars per share) $ 239.21 $ 236.53  
Performance Share Units (PSUs)      
Nonvested RSUs/PSUs      
Balance at period start (in shares) 142,437    
Granted (in shares) 59,200 58,945 50,100
Vested (in shares) (58,599) (86,420) (78,727)
Unearned (in shares) (4,751)    
Forfeited (in shares) (1,578)    
Balance at period end (in shares) 136,709 142,437  
Weighted- Average Grant-Date Fair Value      
Balance at period start (in dollars per share) $ 236.70    
Granted (in dollars per share) 236.16 $ 272.22 $ 240.72
Earned (in dollars per share) 213.12    
Unearned (in dollars per share) 213.12    
Forfeited (in dollars per share) 246.64    
Balance at period end (in dollars per share) $ 247.28 $ 236.70