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Stock Compensation Plans - Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable (Details) - $ / shares | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock Compensation Plans |  |  |  |
Number outstanding | 1,240,305 | 1,064,917 | 1,033,303 | 971,107
Weighted Average Exercise Price | $ 53.857 | $ 53.671 | $ 50.528 | $ 48.079
Range of Exercise Prices | Options Outstanding |  |  |  |
Stock Compensation Plans |  |  |  |
Number outstanding | 1,240,305 |  |  |
Weighted Average Remaining Contractual Term | 6 years 8 months 26 days |  |  |
Weighted Average Exercise Price | $ 53.857 |  |  |
Range of Exercise Prices | Options exercisable |  |  |  |
Stock Compensation Plans |  |  |  |
Options exercisable, end of period | 571,490 |  |  |
Weighted Average Exercise Price | $ 51.688 |  |  |
Range of Exercise Prices | $32.590 to 38.610 |  |  |  |
Stock Compensation Plans |  |  |  |
Exercise price range, minimum | 32.590 |  |  |
Exercise price range, maximum | $ 38.610 |  |  |
Range of Exercise Prices | $32.590 to 38.610 | Options Outstanding |  |  |  |
Stock Compensation Plans |  |  |  |
Number outstanding | 26,906 |  |  |
Weighted Average Remaining Contractual Term | 11 months 15 days |  |  |
Weighted Average Exercise Price | $ 33.317 |  |  |
Range of Exercise Prices | $32.590 to 38.610 | Options exercisable |  |  |  |
Stock Compensation Plans |  |  |  |
Options exercisable, end of period | 26,906 |  |  |
Weighted Average Exercise Price | $ 33.317 |  |  |
Range of Exercise Prices | $41.300 to 41.740 |  |  |  |
Stock Compensation Plans |  |  |  |
Exercise price range, minimum | 41.300 |  |  |
Exercise price range, maximum | $ 41.740 |  |  |
Range of Exercise Prices | $41.300 to 41.740 | Options Outstanding |  |  |  |
Stock Compensation Plans |  |  |  |
Number outstanding | 200,538 |  |  |
Weighted Average Remaining Contractual Term | 5 years 8 months 15 days |  |  |
Weighted Average Exercise Price | $ 41.628 |  |  |
Range of Exercise Prices | $41.300 to 41.740 | Options exercisable |  |  |  |
Stock Compensation Plans |  |  |  |
Options exercisable, end of period | 119,930 |  |  |
Weighted Average Exercise Price | $ 41.552 |  |  |
Range of Exercise Prices | $50.250 to 59.750 |  |  |  |
Stock Compensation Plans |  |  |  |
Exercise price range, minimum | 50.250 |  |  |
Exercise price range, maximum | $ 59.750 |  |  |
Range of Exercise Prices | $50.250 to 59.750 | Options Outstanding |  |  |  |
Stock Compensation Plans |  |  |  |
Number outstanding | 668,327 |  |  |
Weighted Average Remaining Contractual Term | 6 years 10 months 13 days |  |  |
Weighted Average Exercise Price | $ 54.686 |  |  |
Range of Exercise Prices | $50.250 to 59.750 | Options exercisable |  |  |  |
Stock Compensation Plans |  |  |  |
Options exercisable, end of period | 316,725 |  |  |
Weighted Average Exercise Price | $ 54.194 |  |  |
Range of Exercise Prices | $60.150 to 62.010 |  |  |  |
Stock Compensation Plans |  |  |  |
Exercise price range, minimum | 60.150 |  |  |
Exercise price range, maximum | $ 62.010 |  |  |
Range of Exercise Prices | $60.150 to 62.010 | Options Outstanding |  |  |  |
Stock Compensation Plans |  |  |  |
Number outstanding | 344,534 |  |  |
Weighted Average Remaining Contractual Term | 7 years 6 months 18 days |  |  |
Weighted Average Exercise Price | $ 60.971 |  |  |
Range of Exercise Prices | $60.150 to 62.010 | Options exercisable |  |  |  |
Stock Compensation Plans |  |  |  |
Options exercisable, end of period | 107,929 |  |  |
Weighted Average Exercise Price | $ 60.176 |  |  |

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