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Stock Plans and Stock Based Compensation - Activity Related to Stock Options and SARs Under All Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares/Rights      
Exercised (in shares) (1,996) (6,465) (13,498)
Outstanding, ending balance (in shares) 48,882    
Exercisable, ending balance (in shares) 48,882    
Weighted Average Exercise Price      
Outstanding, ending balance (in dollars per share) $ 59.13    
Exercisable, ending balance (in dollars per share) $ 59.13    
Weighted Average Remaining Contractual Term      
Outstanding (in years) 1 year 6 months 14 days    
Stock options and SARs      
Number of Shares/Rights      
Outstanding, beginning balance (in shares) 59,853    
Granted (in shares) 0    
Exercised (in shares) (10,196)    
Forfeited (in shares) (775)    
Outstanding, ending balance (in shares) 48,882 59,853  
Exercisable, ending balance (in shares) 48,882    
Weighted Average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 57.12    
Granted (in dollars per share) 0.00    
Exercised (in dollars per share) 45.97    
Forfeited (in dollars per share) 76.90    
Outstanding, ending balance (in dollars per share) 59.13 $ 57.12  
Exercisable, ending balance (in dollars per share) $ 59.13    
Weighted Average Remaining Contractual Term      
Outstanding (in years) 1 year 6 months 14 days    
Exercisable (in years) 1 year 6 months 14 days    
Aggregate Intrinsic Value      
Outstanding $ 276,810    
Exercisable $ 276,810