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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