Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) - $ / shares	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Statement of Stockholders' Equity [Abstract]
Issuance of common stock through stock awards (in shares)	137,350	161,050
Exercise of stock options (in shares)	47,000	10,595
Issuance of common stock through employee purchase plan (in shares)	40,322	45,232
Purchase of treasury stock (in shares)	49,623	56,808
Cash dividends declared per share of common stock (in dollars per share)	$ 1.30	$ 1.25
Preferred stock dividend shares (in dollars per share)	$ 15.95	$ 15.95