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Summary of Significant Accounting Policies Stock-Based Compensation (Details) - $ / shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 06, 2021
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Number of shares authorized for issuance |  |  |  | 9,000,000
Stock options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Vesting period (in years) | 3 years |  |  |
Minimum exercise price of stock option as a percent of common stock fair value on the grant date | 100.00% |  |  |
Period after the grant date during which stock options can't be exercised (in months) | 6 months |  |  |
Maximum term of awards (in years) | 10 years |  |  |
Stock options granted (in shares) | 257,780 | 437,269 | 530,612 |
Estimated weighted-average fair value per stock option (in dollars per share) | $ 19.58 | $ 14.71 | $ 13.20 |
Risk-free interest rate, minimum (as a percent) | 3.80% | 0.20% | 0.10% |
Risk-free interest rate, maximum (as a percent) | 4.80% | 1.60% | 0.90% |
Dividend yield (as a percent) | 3.20% | 3.20% | 2.90% |
Expected volatility (as a percent) | 22.00% | 21.00% | 21.00% |
Expected life (in years) | 8 years 3 months 18 days | 8 years 8 months 12 days | 8 years 8 months 12 days |
Restricted stock | Employees |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Vesting period (in years) | 3 years |  |  |
Percentage to vest each year after grant date | 33.00% |  |  |
Restricted stock | Directors |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Vesting period (in years) | 1 year |  |  |
Performance units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Vesting period (in years) | 3 years |  |  |
Performance units | Performance units granted prior to 2023 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Maximum adjustment to payout ratio | 10.00% |  |  |
Performance units | Performance units granted prior to 2023 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Payout ratio (as a percent) | 0.00% |  |  |
Performance units | Performance units granted prior to 2023 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Payout ratio (as a percent) | 175.00% |  |  |
Performance units | Performance units granted after January 1, 2023 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Vesting period (in years) | 3 years |  |  |
Maximum adjustment to payout ratio | 25.00% |  |  |
Percentage of payout based on total shareholder return | 55.00% |  |  |
Percentage of payout based on ROE | 45.00% |  |  |
Performance units | Performance units granted after January 1, 2023 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Payout ratio (as a percent) | 200.00% |  |  |

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