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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Summary of Restricted and Deferred Stock Activity | A summary of restricted and deferred stock activity follows:
| Number of shares
Non-vested shares outstanding at January 1, 2022 | 1,284,206 |
Awarded: |
Time-vesting | 190,442 |
Performance-based | 207,212 |
Released: |
Time-vesting | (348,062) |
Performance-based | (305,492) |
Forfeitures: |
Time-vesting | (73,188) |
Performance-based | (12,283) |
Non-vested shares outstanding at December 31, 2022 | 942,835 |
Summary of Average Grant-Date Fair Value of Restricted Stock | The average grant-date fair value of restricted stock awarded in 2022, 2021 and 2020 follows:
| 2022 |  | 2021 |  | 2020
Time-vesting | $ | 96.29 |  |  | $ | 100.08 |  |  | $ | 70.07 |
Performance-based | 111.84 |  |  | 100.99 |  |  | 72.08 |
Schedule of Weighted Average Assumptions on Performance-Based Shares | The fair values of the performance-based awards that include a market condition were calculated using a Monte Carlo valuation model and the following weighted average assumptions:
| 2022 |  | 2021 |  | 2020
Risk-free interest rate | 1.0 | % |  | 0.2 | % |  | 1.6 | %
Expected term (years) | 3 |  | 3 |  | 3
Expected stock price volatility | 34.8 | % |  | 35.5 | % |  | 22.0 | %

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- Definition Schedule of share-based compensation, grant date fair value of restricted stock [table text block] + References No definition available. + 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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + 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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