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Stock-Based Compensation - Assumptions Used to Estimate Fair Value (Details)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Dividend yield 0.80% 1.00% 0.80%
Expected volatility 32.70% 32.70% 33.00%
Risk free interest rate 3.30% 3.00% 1.10%
Weighted average expected option life in years 5 years 7 months 6 days 6 years 10 months 24 days 6 years 4 months 24 days
PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Dividend yield 0.80% 1.00%  
Expected volatility 29.80% 34.40%  
Risk free interest rate 3.60% 2.80%  
Correlation Between TSR for the Company and the S&P 600 Capital Goods Index 48.00% 52.30%  
Risk free interest rate S&P 600 Capital Goods Index 3.60% 2.80%  
Expected volatility S&P 600 Capital Goods Index 44.40% 50.50%