Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) - $ / shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]
Issuance of common stock through stock awards (in shares)	161,050	241,750
Exercise of stock options (in shares)	10,595	26,190
Issuance of common stock through employee purchase plan (in shares)	45,232	36,347
Purchase of treasury stock (in shares)	56,808	95,091
Cash dividends declared per share of common stock (in dollars per share)	$ 1.25	$ 1.10
Preferred stock dividend shares (in dollars per share)	$ 15.95	$ 15.95