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Compensation Related Costs, Share Based Payments (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |
Share-Based Payment Arrangement, Cost by Plan [Table Text Block] | Stock-based compensation expense and other disclosures for stock-based awards follows:
| Year Ended December 31,
(in thousands) | 2023 | 2022 | 2021
Stock-based compensation expense recognized | $ | 52,996 |  | $ | 50,080 |  | $ | 40,623 |
Income tax benefit realized from stock-based compensation expense | 12,643 |  | 13,483 |  | 10,677 |
Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] | The following is a summary of time-based RSUs award activity for 2023:
| Total Awards (in thousands) |  | Weighted Average Grant Date Fair Value
Non-vested — December 31, 2022 | 987 |  |  | $ | 86.34 |
Granted | 556 |  |  | 123.66 |
Vested | (480) |  |  | 83.54 |
Canceled | (25) |  |  | 104.82 |
Non-vested — December 31, 2023 | 1,038 |  |  | $ | 106.98 |
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] | Additional disclosures for time-based RSUs:
| Year Ended December 31,
| 2023 | 2022 | 2021
Weighted average grant date fair value of awards granted | $ | 123.66 |  | $ | 90.06 |  | $ | 88.84 |
Fair value of awards vested during the year (in millions) | 58.7 |  | 30.4 |  | 28.7 |
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block] | The following is a summary of LTIP award activity, at 100% of targeted amount, for 2023:
| Number of Performance Units |  | Weighted Average Grant Date Fair Value
| (in thousands) |
Non-vested — December 31, 2022 | 272 |  |  | $ | 85.37 |
Granted | 67 |  |  | 133.08 |
Vested | (107) |  |  | 70.05 |
Canceled | (5) |  |  | 114.34 |
Non-vested — December 31, 2023 | 227 |  |  | $ | 105.92 |

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- Definition Line items represent financial concepts included in a table. 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