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Stock-Based Compensation Expense - Restricted Stock Units Narrative (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost, period for recognition	1 year 10 months 24 days
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period	3 years
Weighted-average grant-date fair value per share (in dollars per share)	$ 259.86	$ 248.02	$ 278.68
Fair value of awards vested	$ 24.1	$ 20.3	$ 17.0
Unrecognized compensation cost	$ 41.6

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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).

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