Stock-Based Compensation - Significant Option Groups Outstanding and Related Weighted Average Exercise Price and Life Information (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Options Outstanding
Number outstanding (in shares)	782	800	774	745
Weighted-average remaining contractual term (in years)	3 years 5 months 12 days	3 years 1 month 24 days	3 years 8 months 15 days
Weighted average exercise price (in dollars per share)	$ 44.16	$ 45.55	$ 43.01	$ 41.73
Options Exercisable
Number exercisable (in shares)	600	656	582
Weighted-average exercise price (in dollars per share)	$ 45.77	$ 44.08	$ 43.90
Exercise price range 1
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	26.64
Range of exercise prices, upper range limit (in dollars per share)	$ 34.55
Options Outstanding
Number outstanding (in shares)	290
Weighted-average remaining contractual term (in years)	4 years 9 months 18 days
Weighted average exercise price (in dollars per share)	$ 30.12
Options Exercisable
Number exercisable (in shares)	150
Weighted-average exercise price (in dollars per share)	$ 27.07
Exercise price range 2
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	44.95
Range of exercise prices, upper range limit (in dollars per share)	$ 46.17
Options Outstanding
Number outstanding (in shares)	207
Weighted-average remaining contractual term (in years)	3 years 7 months 6 days
Weighted average exercise price (in dollars per share)	$ 45.59
Options Exercisable
Number exercisable (in shares)	198
Weighted-average exercise price (in dollars per share)	$ 45.56
Exercise price range 3
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	51.38
Range of exercise prices, upper range limit (in dollars per share)	$ 62.70
Options Outstanding
Number outstanding (in shares)	285
Weighted-average remaining contractual term (in years)	2 years 3 months 10 days
Weighted average exercise price (in dollars per share)	$ 57.39
Options Exercisable
Number exercisable (in shares)	252
Weighted-average exercise price (in dollars per share)	$ 57.12