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Stock Plans and Stock Based Compensation - Options and SARs Outstanding and Exercisable (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding (in shares) | shares	48,882
Weighted Average Remaining Contractual Life	1 year 6 months 14 days
Weighted Average Exercise Price (in dollars per share)	$ 59.13
Number Exercisable (in shares) | shares	48,882
Weighted Average Exercise Price (in dollars per share)	$ 59.13
$41.01-50.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	41.01
Range of exercise prices, upper range (in dollars per share)	$ 50.00
Number Outstanding (in shares) | shares	19,294
Weighted Average Remaining Contractual Life	9 months 25 days
Weighted Average Exercise Price (in dollars per share)	$ 49.22
Number Exercisable (in shares) | shares	19,294
Weighted Average Exercise Price (in dollars per share)	$ 49.22
$50.01-76.90
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	50.01
Range of exercise prices, upper range (in dollars per share)	$ 76.90
Number Outstanding (in shares) | shares	29,366
Weighted Average Remaining Contractual Life	2 years 3 days
Weighted Average Exercise Price (in dollars per share)	$ 65.43
Number Exercisable (in shares) | shares	29,366
Weighted Average Exercise Price (in dollars per share)	$ 65.43
$76.91-86.18
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	76.91
Range of exercise prices, upper range (in dollars per share)	$ 86.18
Number Outstanding (in shares) | shares	222
Weighted Average Remaining Contractual Life	2 years 10 months 20 days
Weighted Average Exercise Price (in dollars per share)	$ 86.18
Number Exercisable (in shares) | shares	222
Weighted Average Exercise Price (in dollars per share)	$ 86.18

X

- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
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-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

+ References

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-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- Definition

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

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The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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