Stock Plans and Stock Based Compensation - Activity Related to Stock Options and SARs Under All Plans (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares/Rights
Outstanding, ending balance (in shares) | shares	59,853
Exercisable, ending balance (in shares) | shares	59,853
Weighted Average Exercise Price
Outstanding, ending balance (in dollars per share) | $ / shares	$ 57.12
Exercisable, ending balance (in dollars per share) | $ / shares	$ 57.12
Weighted Average Remaining Contractual Term
Outstanding (in years)	2 years 6 months
Stock options and SARs
Number of Shares/Rights
Outstanding, beginning balance (in shares) | shares	91,480
Granted (in shares) | shares	0
Exercised (in shares) | shares	(30,557)
Forfeited (in shares) | shares	(1,070)
Outstanding, ending balance (in shares) | shares	59,853
Exercisable, ending balance (in shares) | shares	59,853
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 54.17
Granted (in dollars per share) | $ / shares	0.00
Exercised (in dollars per share) | $ / shares	47.92
Forfeited (in dollars per share) | $ / shares	67.89
Outstanding, ending balance (in dollars per share) | $ / shares	57.12
Exercisable, ending balance (in dollars per share) | $ / shares	$ 57.12
Weighted Average Remaining Contractual Term
Outstanding (in years)	2 years 6 months
Exercisable (in years)	2 years 6 months
Aggregate Intrinsic Value
Outstanding | $	$ 1,226,708
Exercisable | $	$ 1,226,708