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Compensation Related Costs, Share Based Payments (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 4,300,000 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant | 1,800,000 |  |
Share-Based Payment Arrangement, Expense, after Tax | $ 7,800 | $ 6,800 | $ 7,500
Share-Based Payment Arrangement, Expense, Tax Benefit | $ 2,600 | 2,300 | $ 2,500
Restricted Stock Units (RSUs) |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period | 3 years |  |
Forfeiture Rate Maximum In Hundredths | 3.00% |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ 4,000 | $ 3,700 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition | 1 year 9 months 18 days | 1 year 9 months 18 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 126,948 | 116,633 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period | 48,841 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period | (31,328) |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Number of Shares | (7,198) |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value | $ 77.50 | $ 79.32 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | 81.79 | $ 76.96 | $ 72.69
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value | 90.94 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value | $ 77.65 |  |
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Fair Value Of Shares Granted | $ 3,995 | $ 4,342 | $ 3,660
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Fair Value Of Shares Vested | $ 2,800 | 2,900 | $ 3,400
Performance Shares |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period | 3 years |  |
Forfeiture Rate Maximum In Hundredths | 3.00% |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ 9,700 | $ 8,000 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition | 1 year 9 months 18 days | 1 year 9 months 18 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 247,326 | 214,537 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period | 95,474 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period | (50,188) |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Number of Shares | (12,497) |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value | $ 95.23 | $ 92.47 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | 105.74 | $ 95.80 | $ 82.51
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value | 102.77 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value | $ 97.91 |  |
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Fair Value Of Shares Granted | $ 10,095 | $ 8,360 | $ 8,860
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Fair Value Of Shares Vested | $ 3,700 | $ 5,200 | $ 7,200
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate | 29.20% | 34.00% | 32.70%
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Dividend Rate | 3.18% | 3.22% | 3.19%
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Risk Free Interest Rate | 4.37% | 1.65% | 0.20%
Employee Stock |  |  |
Share-Based Payment Arrangement [Abstract] |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 1,250,000 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Maximum Allowable Percentage Of Annual Base Pay Withheld To Purchase Our Common Stock | 10.00% |  |
Purchase Price Percentage Of Lower O fIts Grant Date Or Exercise Date Market Price In Hundredths | 85.00% |  |
Percent of employees who participated in the Employee Stock Purchase Plan | 45.00% | 42.00% | 44.00%
Shares sold under employee stock purchase plan | 108,875 | 86,657 | 89,240
Share price of shares sold under Employee Stock Purchase Plan in dollars per share | $ 58.98 | $ 65.21 | $ 63.41
Share-Based Payment Arrangement, Expense | $ 1,200 | $ 1,100 | $ 1,100

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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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