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Stock-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 USD ($) plan $ / shares shares | Dec. 31, 2021 $ / shares shares | Dec. 31, 2020 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Shares available for issuance under the 2016 Plan (in shares) | 1,681,526 |  |
Unrecognized compensation expense for all nonvested awards | $ | $ 28,900 |  |
Weighted average period for recognition (in years) | 1 year 7 months 6 days |  |
Deferred compensation plans and restricted share awards |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Deferred compensation conversion unit (in shares) | 1 |  |
Number of deferred compensation plans | plan | 2 |  |
Number of deferred stock units (in shares) | 383,792 |  |
Number of deferred stock units payable in cash (in shares) | 9,366 |  |
Deferred compensation plans and restricted share awards | Non-Employee Directors |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Granted at target level (in shares) | 4,827 | 6,034 |
Granted at target level (in dollars per share) | $ / shares | $ 300.78 | $ 338.38 |
Share-based Payment Arrangement, Option |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Number of shares reduced for each award granted (in shares) | 1 |  |
Awards, expiration period (in years) | 10 years |  |
Award Types Other than Stock Options and Stock Appreciation Rights |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Number of shares reduced for each award granted (in shares) | 2.5 |  |
Stock Appreciation Rights (SARs) |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Awards, expiration period (in years) | 10 years |  |
Vesting period (in years) | 4 years |  |
Stock-settled PSU awards |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Granted at target level (in shares) | 32,109 |  |
Granted at target level (in dollars per share) | $ / shares | $ 362.40 | $ 333.58 | $ 177.31
Employee stock purchase plan |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Shares available for issuance under the 2016 Plan (in shares) | 3,738,000 |  |
Percentage of current market price for sales to eligible employees (as a percent) | 85.00% |  |
Limitation on payroll deductions of employee's base salary (as a percent) | 25.00% |  |
Limitation on payroll deductions of employee's base salary, amount | $ | $ 25 |  |
Maximum number of shares per employee (in shares) | 2,000 |  |
Maximum number of shares per employee, per year (in shares) | 8,000 |  |
Purchases of shares (in shares) | 27,894 | 27,016 | 36,494
Restricted Stock |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Granted at target level (in shares) | 9,648 | 6,002 | 8,721
Granted at target level (in dollars per share) | $ / shares | $ 310.52 | $ 312.41 | $ 200.35

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