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Stock Plans and Management Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement, Noncash Expense [Abstract] |
Non-Vested Stock Award Activity | The weighted average price per non-vested stock unit at grant date was $93.62, $91.14 and $64.13 for units granted in 2022, 2021 and 2020, respectively. Non-vested stock unit activity for the year ended December 31, 2022 was as follows:
(in thousands, except grant date fair value) | Non-vested Stock Unit Activity |  | Weighted Average Grant Date Fair Value ($) |  |  |  |  |  |  |  |
Non-vested units, unvested as of January 1, 2022 | 635 |  |  | 66.81 |  |  |  |  |  |  |  |  |
Awarded | 226 |  |  | 93.62 |  |  |  |  |  |  |  |  |
Forfeited | (28) |  |  | 83.15 |  |  |  |  |  |  |  |  |
Vested | (232) |  |  | 51.32 |  |  |  |  |  |  |  |  |
Non-vested units, unvested as of December 31, 2022 | 601 |  |  | 82.14 |  |  |  |  |  |  |  |  |
Fair Value Assumptions for Performance Awards | The fair values of the senior executives' performance share award grants with a TSR modifier at the grant date in 2022, 2021 and 2020 were $94.59, $91.44 and $64.72, respectively, which were estimated using the Monte Carlo valuation model, and incorporated the following assumptions:
| 2022 |  | 2021 |  | 2020 |  |  |
Risk-free interest rate | 1.7 | % |  | 0.2 | % |  | 1.4 | % |  |  |
Dividend yield | 1.5 | % |  | 1.2 | % |  | 1.5 | % |  |  |
Volatility factor | 54.8 | % |  | 65.6 | % |  | 46.6 | % |  |  |
Expected life of award | 2.9 years |  | 2.9 years |  | 2.9 years |  |  |
Performance Award Activity | Performance award activity for the year ended December 31, 2022 was as follows:
(in thousands, except grant date fair value) | Performance Awards |  | Weighted Average Grant Date Fair Value ($) |  |
Performance awards, unvested at January 1 | 192 |  |  | 76.15 |  |  |
Awarded | 207 |  |  | 70.32 |  |  |
Forfeited | (5) |  |  | 81.31 |  |  |
Vested and earned | (203) |  |  | 56.11 |  |  |
Performance awards, unvested at December 31 | 191 |  |  | 90.97 |  |  |

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- Definition Schedule of Share-based Payment Award, Equity Instruments Other than Options, Valuation Assumptions [Table Text Block] + References No definition available. + Details
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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for outstanding performance shares. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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