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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Award Activity | The following table summarizes information about RSUs and restricted shares:
|  |  | Number of shares |  |  | Weighted average grant date fair value |
| Nonvested at December 31, 2022 |  |  | 707 |  |  | $ | 99.09 |
| RSUs granted |  |  | 365 |  |  | $ | 113.28 |
| RSUs vested |  |  | (410 | ) |  | $ | 94.54 |
| RSUs forfeited |  |  | (20 | ) |  | $ | 105.11 |
| Nonvested at December 31, 2023 |  |  | 642 |  |  | $ | 109.78 |
Schedule of Stock Option Activity | The following table summarizes information about stock options:
|  |  | Number of shares |  |  | Weighted average exercise price per share |  |  | Weighted average remaining contractual life |  |  | Aggregate intrinsic value |
| Outstanding at December 31, 2022 |  |  | 1,784 |  |  | $ | 44.86 |  |  |  |  |  |  |
| Options granted |  |  | — |  |  | $ | — |  |  |  |  |  |  |
| Options exercised |  |  | (640 | ) |  | $ | 42.15 |  |  |  |  |  |  |
| Options canceled |  |  | (9 | ) |  | $ | 35.39 |  |  |  |  |  |  |
| Outstanding at December 31, 2023 |  |  | 1,135 |  |  | $ | 46.46 |  |  |  | 1.66 |  |  | $ | 91,645 |
| Exercisable at December 31, 2023 |  |  | 1,135 |  |  | $ | 46.46 |  |  |  | 1.66 |  |  | $ | 91,645 |
Shared-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used | The fair value of employee stock purchase rights granted under the 2002 Plan is estimated on the date of grant using the Black-Scholes Model with the following assumptions:
|  |  | For the years ended December 31, |
|  |  | 2023 |  |  | 2022 |  |  | 2021 |
| Dividend yield |  |  | 1.20 | % |  |  | 1.30 | % |  |  | 1.10 | %
| Volatility |  |  | 28 | % |  |  | 29 | % |  |  | 20 | %
| Risk-free interest rates |  |  | 5.37 | % |  |  | 3.02 | % |  |  | 0.08 | %
| Expected life (years) |  |  | 1 |  |  |  | 1 |  |  |  | 1 |
| Weighted average fair value |  | $ | 31.56 |  |  | $ | 27.07 |  |  | $ | 28.55 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Disclosure of the number and weighted-average grant date fair value for restricted stock and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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