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Share-Based Compensation - Activity for Stock Option Awards (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Shares  
Outstanding at beginning of year (in shares) | shares 931,843
Granted (in shares) | shares 60,492
Exercised (in shares) | shares (338,787)
Forfeited (in shares) | shares (10,667)
Expired (in shares) | shares (450)
Outstanding at end of year (in shares) | shares 642,431
Exercisable at end of year (in shares) | shares 534,335
Weighted-Average Exercise Price  
Outstanding at beginning of year (in dollars per share) | $ / shares $ 66.97
Granted (in dollars per share) | $ / shares 72.88
Exercised (in dollars per share) | $ / shares 61.17
Forfeited (in dollars per share) | $ / shares 75.76
Expired (in dollars per share) | $ / shares 71.70
Outstanding at end of year (in dollars per share) | $ / shares 70.43
Exercisable at end of year (in dollars per share) | $ / shares $ 69.33