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Stock-Based Compensation (Summary of Stock Option Activity) (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-Based Payment Arrangement [Abstract] |  |  |  |
Options outstanding, beginning, number of shares | 2,154,907 | 1,933,534 | 1,919,163 |
Granted, number of shares | 500,219 | 561,295 | 687,772 |
Cancelled, number of shares | (246,104) | (223,813) | (213,444) |
Exercised, number of shares | (129,008) | (116,109) | (459,957) |
Options outstanding, ending, number of shares | 2,280,014 | 2,154,907 | 1,933,534 | 1,919,163
Options outstanding, beginning, weighted average exercise price | $ 85.37 | $ 83.19 | $ 74.45 |
Granted, weighted average exercise price | 88.39 | 89.25 | 95.90 |
Cancelled, weighted average exercise price | 90.60 | 91.09 | 89.96 |
Exercised, weighted average exercise price | 57.00 | 56.75 | 62.58 |
Options outstanding, ending, weighted average exercise price | $ 87.08 | $ 85.37 | $ 83.19 | $ 74.45
Options outstanding, beginning, weighted average remaining contractual life, years | 6 years 8 months 19 days | 7 years 7 days | 7 years 3 months 3 days | 7 years 2 months 8 days
Options outstanding, ending, weighted average remaining contractual life, years | 6 years 8 months 19 days | 7 years 7 days | 7 years 3 months 3 days | 7 years 2 months 8 days
Options outstanding, beginning, aggregate intrinsic value | $ 13,929,000 | $ 29,889,000 | $ 29,489,000 |
Options outstanding, ending, aggregate intrinsic value | $ 10,051,000 | $ 13,929,000 | $ 29,889,000 | $ 29,489,000
Options vested and expected to vest, number of shares | 2,208,014 |  |  |
Options vested and expected to vest, weighted average exercise price | $ 87.01 |  |  |
Options vested and expected to vest, weighted average remining contractual life, years | 6 years 7 months 28 days |  |  |
Options vested and expected to vest, aggregate intrinsic value | $ 9,979,000 |  |  |
Options exercisable, number of shares | 1,250,833 |  |  |
Options exercisable, weighted average exercise price | $ 84.88 |  |  |
Options exercisable, weighted average remaining contractual life | 5 years 5 months 23 days |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options outstanding, beginning, weighted average remaining contractual life, years | 6 years 8 months 19 days | 7 years 7 days | 7 years 3 months 3 days | 7 years 2 months 8 days
Options vested and expected to vest, number of shares | 2,208,014 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number | 2,280,014 | 2,154,907 | 1,933,534 | 1,919,163
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price | $ 87.08 | $ 85.37 | $ 83.19 | $ 74.45
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value | $ 10,051,000 | $ 13,929,000 | $ 29,889,000 | $ 29,489,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures | 500,219 | 561,295 | 687,772 |
Granted, weighted average exercise price | $ 88.39 | $ 89.25 | $ 95.90 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period | 246,104 | 223,813 | 213,444 |
Cancelled, weighted average exercise price | $ 90.60 | $ 91.09 | $ 89.96 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period | 129,008 | 116,109 | 459,957 |
Exercised, weighted average exercise price | $ 57.00 | $ 56.75 | $ 62.58 |
Options vested and expected to vest, weighted average exercise price | $ 87.01 |  |  |
Options vested and expected to vest, weighted average remining contractual life, years | 6 years 7 months 28 days |  |  |
Options vested and expected to vest, aggregate intrinsic value | $ 9,979,000 |  |  |
Options exercisable, number of shares | 1,250,833 |  |  |
Options exercisable, weighted average exercise price | $ 84.88 |  |  |
Options exercisable, weighted average remaining contractual life | 5 years 5 months 23 days |  |  |
Options exercisable, aggregate intrinsic value | $ 9,038,000 |  |  |
Stock-based compensation expense | $ 23,051,000 | $ 21,021,000 | $ 19,126,000 |
Stock Options [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Expected term, years | 4 years 4 months 20 days | 4 years 4 months 9 days | 4 years 4 months 6 days |
Expected stock price volatility | 27.37% | 25.38% | 24.88% |
Risk-free interest rate | 4.03% | 1.72% | 0.54% |
Expected dividend yield | 1.36% | 1.26% | 1.09% |
Weighted average grant date fair value | $ 22.61 | $ 18.33 | $ 17.95 |
Stock-based compensation expense | $ 8,200,000 | $ 7,800,000 | $ 6,900,000 |
Unrecognized costs related to share based compensation | $ 13,000,000 |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition | 2 years 3 months 3 days |  |  |
Intrinsic value of stock options exercised | $ 3,000,000 | 3,400,000 | 19,200,000 |
Cash received on exercises of stock options | $ 7,400,000 | $ 6,600,000 | $ 28,800,000 |

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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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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + 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)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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