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Stock Repurchase Programs (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Aug. 02, 2016 | Nov. 04, 2014
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Number of shares repurchased (in shares) | 0 |  | 0 |  |
Aggregate purchase price for repurchased shares | $ 0 | $ 52,210,000 | $ 0 |  |
2016 and 2014 Share Repurchase Programs |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Remaining value of shares authorized for repurchase under stock repurchase programs | $ 2,700,000 |  |  |  |
Number of shares repurchased (in shares) |  | 389,300 |  |  |
Average price of repurchased shares (in dollars per share) |  | $ 134.11 |  |  |
Aggregate purchase price of treasury stock |  | $ 52,200,000 |  |  |
2016 Repurchase Program |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Value of shares authorized for repurchase under stock repurchase programs (up to) |  |  |  | $ 50,000,000 |
2014 Share Repurchase Program |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Value of shares authorized for repurchase under stock repurchase programs (up to) |  |  |  |  | $ 50,000,000

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