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v3.24.0.1

Accounting for Stock-based Compensation - Additional Information (Details) $ / shares in Units, $ in Millions |  | 12 Months Ended | 24 Months Ended
--- | --- | --- | ---
Apr. 04, 2018 shares | Dec. 31, 2023 USD ($) PerformancePeriod $ / shares shares | Dec. 31, 2022 USD ($) PerformancePeriod shares | Dec. 31, 2021 USD ($) PerformancePeriod shares | Dec. 31, 2020 shares | Dec. 31, 2015 PerformancePeriod | Dec. 31, 2022 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term |  | 2 months 12 days |  |  |  |  |
Employee Stock Option |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of shares grants |  |  | 0 | 0 | 0 |  |
Share price | $ / shares |  | $ 134.09 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $ |  | $ 0.9 | $ 1.9 | $ 0.8 |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, award vesting period |  | 3 years |  |  |  |  |
Share price | $ / shares |  | $ 134.09 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $ |  | $ 7.3 | $ 10.8 | $ 7.9 |  |  |
Number of shares, granted |  | 89,388 | 148,361 | 132,757 |  |  |
Number of shares, vested |  | 93,881 | 140,666 | 119,203 |  |  |
Cash Settled RSUs |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, award vesting period |  |  | 3 years |  |  |  |
Share price | $ / shares |  | $ 134.09 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $ |  | $ 7.9 | $ 6.6 | $ 8.7 |  |  |
Number of shares, granted |  | 70,742 | 115,024 | 52,246 |  |  |
Number of shares, vested |  | 81,537 | 75,566 | 104,272 |  |  |
Performance Shares |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share price | $ / shares |  | $ 134.09 |  |  |  |  |
Number of performance period in performance based share program | PerformancePeriod |  | 1 | 2 | 3 |  | 2 |
Percentage of multiplication award by product |  | 2.00% |  |  |  |  |
Number of shares, granted |  | 36,956 | 38,412 | 54,216 | 45,141 |  | 69,650
Number of shares, vested |  | 45,141 | 47,634 | 63,258 |  |  |
Number of shares, expected to vest |  | 69,650 |  |  |  |  |
Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate |  | 0.00% |  |  |  |  |
Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate |  | 21.59% |  |  |  |  |
Omnibus Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of shares grants | 2,050,000 | 2,631 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of shares available for grant |  | 1,119,446 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term |  | 10 years |  |  |  |  |
Omnibus Plan | Non-Employee Director Awards |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share price | $ / shares |  | $ 134.09 |  |  |  |  |
Number of shares, granted |  | 8,211 | 11,399 | 11,186 |  |  |
Number of shares, vested |  | 9,457 | 11,637 | 12,110 |  |  |

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