Stock-Based Incentive Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares Under Option
Beginning of period, outstanding (in shares)	539,575	475,904	1,014,670
Granted (in shares)	74,390	75,795	95,891
Exercised (in shares)	(69,443)	(3,505)	(524,536)
Forfeited (in shares)	(20,876)	(6,171)	(59,468)
Expired (in shares)	(61,140)	(2,448)	(50,653)
End of period, outstanding (in shares)	462,506	539,575	475,904
Vested and expected to vest (in shares)	451,644
Exercisable (in shares)	319,802
Weighted Average Exercise Price Per Share
Beginning of period, outstanding (in USD per share)	$ 75.65	$ 76.65	$ 64.16
Granted (in USD per share)	74.94	70.08	75.28
Exercised (in USD per share)	54.90	68.80	48.79
Forfeited (in USD per share)	79.11	81.13	88.39
Expired (in USD per share)	82.47	94.43	98.61
End of period, outstanding (in USD per share)	77.59	$ 75.65	$ 76.65
Vested and expected to vest (in USD per share)	77.67
Exercisable (in USD per share)	$ 79.52
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term, outstanding (in years)	5 years 9 months 18 days
Weighted average remaining contractual term, vested and expected to vest (in years)	5 years 9 months 18 days
Weighted average remaining contractual term, exercisable (in years)	4 years 7 months 6 days
Aggregate intrinsic value, outstanding	$ 0.0
Aggregate intrinsic value, vested and expected to vest	0.0
Aggregate intrinsic value, exercisable	$ 0.0

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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.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Net number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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

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

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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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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Weighted average remaining contractual term for fully vested and expected to vest exercisable or convertible options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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