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Stock-Based Compensation - Schedule of Grant Date Fair Value of Restricted Stock (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Time-vesting      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Average grant-date fair value of restricted stock awarded (in dollars per share) $ 87.66 $ 96.29 $ 100.08
Performance-based      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Average grant-date fair value of restricted stock awarded (in dollars per share) $ 86.10 $ 111.84 $ 100.99