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Stock Plans and Management Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
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 $88.00, $93.62 and $91.14 for units granted in 2023, 2022 and 2021, respectively. Non-vested stock unit activity for the year ended December 31, 2023 was as follows:
(in thousands, except grant date fair value) | Non-vested Stock Unit Activity |  | Weighted Average Grant Date Fair Value ($) |  |  |  |  |  |  |  |
Non-vested units, unvested as of January 1, 2023 | 601 |  |  | 82.14 |  |  |  |  |  |  |  |  |
Awarded | 278 |  |  | 88.00 |  |  |  |  |  |  |  |  |
Forfeited | (49) |  |  | 86.54 |  |  |  |  |  |  |  |  |
Vested | (253) |  |  | 68.17 |  |  |  |  |  |  |  |  |
Non-vested units, unvested as of December 31, 2023 | 577 |  |  | 90.72 |  |  |  |  |  |  |  |  |
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 2023, 2022 and 2021 were $88.47, $94.59 and $91.44, respectively, which were estimated using the Monte Carlo valuation model, and incorporated the following assumptions:
| 2023 |  | 2022 |  | 2021 |  |  |
Risk-free interest rate | 4.3 | % |  | 1.7 | % |  | 0.2 | % |  |  |
Dividend yield | 1.8 | % |  | 1.5 | % |  | 1.2 | % |  |  |
Volatility factor | 49.8 | % |  | 54.8 | % |  | 65.6 | % |  |  |
Expected life of award | 2.9 years |  | 2.9 years |  | 2.9 years |  |  |
Performance Award Activity | Performance award activity for the year ended December 31, 2023 was as follows:
(in thousands, except grant date fair value) | Performance Awards |  | Weighted Average Grant Date Fair Value ($) |  |
Performance awards, unvested at January 1 | 191 |  |  | 90.97 |  |  |
Awarded | 206 |  |  | 78.49 |  |  |
Forfeited | (13) |  |  | 87.15 |  |  |
Vested and earned | (167) |  |  | 77.02 |  |  |
Performance awards, unvested at December 31 | 217 |  |  | 90.09 |  |  |

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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 -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Name Accounting Standards Codification -Section 50 -Subparagraph (c) -Paragraph 2 -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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