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Stock-Based Compensation Expense - Performance 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
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period	3 years
Award vesting percentage	200.00%
Weighted-average grant-date fair value per share (in dollars per share)	$ 276.36	$ 250.25	$ 273.79
Fair value of awards vested	$ 8.7	$ 7.8	$ 10.3
Unrecognized compensation cost	$ 32.9
Unrecognized compensation cost, period for recognition	1 year 9 months 18 days

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