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Stock-Based Compensation - Assumptions Used to Estimate Fair Value (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Dividend yield 1.00% 0.80% 1.20%
Expected volatility 32.70% 33.00% 33.00%
Risk free interest rate 3.00% 1.10% 0.50%
Weighted average expected option life in years 6 years 10 months 24 days 6 years 4 months 24 days 6 years 2 months 12 days
PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Dividend yield 1.00%    
Expected volatility 34.40%    
Risk free interest rate 2.80%    
Correlation Between TSR for the Company and the S&P 600 Capital Goods Index 52.30%    
Risk free interest rate S&P 600 Capital Goods Index 2.80%    
Expected volatility S&P 600 Capital Goods Index 50.50%