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Stock Compensation - Schedule of Valuation Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Stock      
Stock compensation      
Average risk-free interest rates 4.72% 3.74% 0.40%
Average expected life (in years) 6 months 6 months 6 months
Volatility 25.00% 25.00% 33.00%
Weighted-average fair value (in dollars per share) $ 12.68 $ 14.99 $ 18.02
Options      
Stock compensation      
Average risk-free interest rates 4.01% 2.14% 0.62%
Average expected life (in years) 5 years 18 days 4 years 10 months 24 days 5 years 3 days
Volatility 32.00% 36.00% 39.00%
Weighted-average fair value (in dollars per share) $ 24.35 $ 26.06 $ 29.03