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Share-Based Compensation Plans - Schedule of activity of restricted stock units (Details) - Restricted Stock Units (RSUs) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Shares, Beginning Balance 404,468 397,918 417,578
Weighted Average Price, Beginning Balance (in dollars per share) $ 79.16 $ 73.16 $ 70.24
Shares, Granted 107,621 129,859 137,771
Weighted Average Price, Granted (in dollars per share) $ 123.52 $ 96.32 $ 81.56
Shares, Forfeited (4,665) (2,242) (984)
Weighted Average Price, Forfeited (in dollars per share) $ 105.88 $ 78.86 $ 79.17
Shares, Vested (189,830) (121,067) (156,447)
Weighted Average Price, Vested (in dollars per share) $ 67.40 $ 77.86 $ 72.72
Shares, Ending Balance 317,594 404,468 397,918
Weighted Average Price, Ending Balance (in dollars per share) $ 100.83 $ 79.16 $ 73.16