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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Schedule of nonvested restricted stock and deferred shares activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2023 | ​ | 2022 | ​ | 2021
​ | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date
​ |  | Shares |  | Fair Value |  | Shares |  | Fair Value |  | Shares |  | Fair Value
​ | ​ | (Shares in thousands)
Unvested at beginning of year | ​ | 121 | ​ | $ | 121.39 | ​ | 138 | ​ | $ | 97.43 | ​ | 166 | ​ | $ | 77.97
Granted |  | 51 | ​ |  | 167.39 |  | 64 | ​ |  | 143.86 |  | 61 | ​ |  | 128.32
Vested |  | (76) | ​ |  | 112.65 |  | (78) | ​ |  | 94.33 |  | (84) | ​ |  | 81.70
Cancelled/Forfeitures |  | (3) | ​ |  | 139.46 |  | (3) | ​ |  | 120.31 |  | (5) | ​ |  | 93.98
Unvested at end of year |  | 93 | ​ | $ | 149.96 | ​ | 121 | ​ | $ | 121.39 |  | 138 | ​ | $ | 97.43
Schedule of stock-based compensation fair value assumptions | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  | 2023 |  | 2022 |
Expected life (years) | ​ | 3.0 | ​ | 3.0 | ​
Expected stock price volatility |  | 33.7 | % | 33.7 | %
Expected dividend yield |  | 0.80 | % | 0.80 | %
Risk-free interest rate |  | 4.1 | % | 2.0 | %
Schedule of stock option activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2023 | ​ | 2022 | ​ | 2021
​ | ​ | ​ | ​ | Weighted | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | Average
​ | ​ | ​ | ​ | Exercise | ​ | Intrinsic | ​ | ​ | ​ | Exercise | ​ | ​ | Intrinsic | ​ | ​ | ​ | Exercise | ​ | ​ | Intrinsic
​ |  | Options |  | Price |  | Value |  | Options |  | Price |  | ​ | Value | ​ | Options |  | Price |  | ​ | Value
​ | ​ | (Options in thousands) | ​ | ​ | ​
Outstanding at beginning of year | ​ | 1 | ​ | $ | 57.47 | ​ | ​ | ​ | ​ | 4 | ​ | $ | 52.92 | ​ | ​ | ​ | ​ | 5 | ​ | $ | 52.40 | ​ | ​ | ​
Cancelled/Forfeitures |  | — | ​ |  | — | ​ | ​ | ​ |  | — | ​ |  | — | ​ | ​ | ​ |  | — | ​ |  | — | ​ | ​ | ​
Exercised |  | (1) | ​ |  | 57.47 | ​ | ​ | ​ |  | (3) | ​ |  | 51.36 | ​ | ​ | ​ |  | (1) | ​ |  | 51.04 | ​ | ​ | ​
Outstanding at end of year |  | — | ​ | $ | 57.47 | ​ | $ | 150.87 |  | 1 | ​ | $ | 57.47 | ​ | $ | 88.76 | ​ | 4 | ​ | $ | 52.92 | ​ | $ | 141.25
Exercisable at end of year |  | — | ​ | $ | 57.47 | ​ | $ | 150.87 |  | 1 | ​ | $ | 57.47 | ​ | $ | 88.76 | ​ | 4 | ​ | $ | 52.92 | ​ | $ | 141.25
Schedule of the Company's RSU activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2023 | ​ | 2022 | ​ | 2021
​ | ​ | ​ | ​ | Weighted | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Purchase | ​ | Intrinsic | ​ | ​ | ​ | Purchase | ​ | ​ | ​ | Purchase
​ |  | RSUs |  | Price |  | Value |  | RSUs |  | Price | ​ | RSUs |  | Price
​ | ​ | (RSUs in thousands)
Outstanding at beginning of year | ​ | 77 | ​ | $ | 94.78 | ​ | ​ | ​ | 85 | ​ | $ | 75.34 | ​ | 95 | ​ | $ | 64.54
Granted |  | 26 | ​ |  | 130.27 | ​ | ​ | ​ | 29 | ​ |  | 115.14 | ​ | 25 | ​ |  | 97.98
Settled |  | (25) | ​ |  | 66.94 | ​ | ​ | ​ | (35) | ​ |  | 64.15 | ​ | (34) | ​ |  | 61.38
Cancelled/Forfeitures |  | (1) | ​ |  | 124.04 | ​ | ​ | ​ | (2) | ​ |  | 92.09 | ​ | (1) | ​ |  | 77.03
Outstanding at end of year |  | 77 | ​ | $ | 114.93 | $ | — | ​ | 77 | ​ | $ | 94.78 | ​ | 85 | ​ | $ | 75.34
Vested at end of year |  | 23 | ​ | $ | 104.17 | $ | — | ​ | 24 | ​ | $ | 77.69 | ​ | 31 | ​ | $ | 65.29
Restricted stock and deferred shares |
Schedule of information about RSUs outstanding | The following table summarizes information about RSUs outstanding at December 31, 2023: ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | RSUs Outstanding | ​ | RSUs Vested
​ | ​ | ​ | ​ | Weighted Average | ​ | ​ | ​ | Weighted Average
​ | ​ | Number | ​ | Purchase | ​ | Number | ​ | Purchase
Range of Purchase Prices |  | Outstanding |  | Price |  | Vested |  | Price
​ | ​ | (RSUs in thousands)
$69.76-$97.28 |  | 23 | ​ | $ | 97.28 |  | 14 | ​ | $ | 97.28
$97.29-$115.14 |  | 28 | ​ |  | 115.14 |  | 9 | ​ |  | 115.14
$115.15-$130.27 | ​ | 26 | ​ | ​ | 130.27 | ​ | — | ​ | ​ | —
​ |  | 77 | ​ | $ | 114.93 |  | 23 | ​ | $ | 104.17
Performance stock units |
Schedule of unvested performance shares activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2023 | ​ | 2022 | ​ | 2021
​ | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date
​ |  | Shares |  | Fair Value |  | Shares |  | Fair Value |  | Shares |  | Fair Value
​ | ​ | (Shares in thousands)
Unvested at beginning of year | ​ | 146 |  | $ | 107.29 | ​ | 178 |  | $ | 88.32 | ​ | 208 |  | $ | 78.06
Granted |  | 99 | ​ | ​ | 106.37 | ​ | 108 | ​ | ​ | 102.98 | ​ | 61 | ​ | ​ | 113.37
Vested |  | (125) | ​ |  | 73.62 | ​ | (136) | ​ |  | 78.82 | ​ | (85) | ​ |  | 81.50
Cancelled/Forfeitures |  | (7) | ​ | ​ | 132.14 | ​ | (4) | ​ | ​ | 110.43 | ​ | (6) | ​ | ​ | 83.53
Unvested at end of year |  | 113 | ​ | $ | 142.53 | ​ | 146 | ​ | $ | 107.29 | ​ | 178 | ​ | $ | 88.32

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