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Stock Plans (Details 1) - Employee Stock Option - Valuation Technique, Black-Scholes-Merton, Option Pricing or Monte Carlo Simulation Model [Member] - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Volatility 42.50% 42.40% 39.30%
Risk-free interest rate - weighted average 4.23% 3.97% 1.20%
Risk-free interest rate - range, low   3.97% 0.50%
Risk-free interest rate - range, high 4.23% 3.45% 1.21%
Dividend yield
Assumed forfeitures 8.00% 8.00% 8.00%
Expected lives 5 years 4 years 7 months 6 days 4 years 7 months 6 days
Weighted-average fair value (per option) $ 39.43 $ 37.15 $ 39.99