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Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares Available for Grant [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 1,080,460 | 1,268,770 | 1,532,246
Granted (in shares) | (358,463) | (341,187) | (358,078)
Exercised/vested (in shares) | 0 | 0 | 0
Canceled (in shares) | 58,918 | 152,877 | 94,602
Balance, end of year (in shares) | 780,915 | 1,080,460 | 1,268,770
Stock Options [Member] |  |  |
Stock Award and Incentive Plan [Abstract] |  |  |
Term of stock options granted under Plan | 10 years |  |
Vesting period | 3 years |  |
Stock Options [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 1,363,418 | 1,330,002 | 1,363,366
Granted (in shares) | 255,620 | 242,723 | 255,769
Exercised/vested (in shares) | (91,604) | (121,992) | (251,195)
Canceled (in shares) | (12,972) | (87,315) | (37,938)
Balance, end of year (in shares) | 1,514,462 | 1,363,418 | 1,330,002
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 62.22 | $ 59.91 | $ 57.29
Granted (in dollars per share) | 66.08 | 69.81 | 66
Exercised/vested (in dollars per share) | 56.82 | 46.81 | 51.12
Canceled (in dollars per share) | 67.54 | 69.49 | 64.92
Balance, end of year (in dollars per share) | $ 63.15 | $ 62.22 | $ 59.91
Restricted Stock Units [Member] |  |  |
Restricted Stock [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 176,594 | 196,133 | 201,985
Granted (in shares) | 102,843 | 98,464 | 102,309
Exercised/vested (in shares) | (46,141) | (52,441) | (51,497)
Canceled (in shares) | (45,946) | (65,562) | (56,664)
Balance, end of year (in shares) | 187,350 | 176,594 | 196,133
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 66.32 | $ 60.87 | $ 58.07
Granted (in dollars per share) | 66.01 | 69.7 | 66.2
Exercised/vested (in dollars per share) | 64.25 | 58.92 | 60.4
Canceled (in dollars per share) | 64.33 | 61 | 60.98
Balance, end of year (in dollars per share) | $ 67.15 | $ 66.32 | $ 60.87

X
- Definition The number of additional shares authorized during the period which increased the number of shares available for grant under the plan at the end of the reporting period. + References No definition available. + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + 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 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 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 Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + 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)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + 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)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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