Stock-Based Compensation - Schedule of Assumptions in Computation of Fair Value (Details) - 2004 Purchase Plan	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of risk-free interest rate, minimum	4.57%	0.72%	0.01%
Range of risk-free interest rate, maximum	5.30%	3.06%	0.21%
Range of expected volatility, minimum	26.02%	25.73%	25.54%
Range of expected volatility, maximum	34.93%	37.20%	41.24%
Weighted-average expected volatility	30.48%	30.34%	34.08%
Weighted average expected life (in years)	1 year 21 days	1 year 21 days	1 year 2 months 4 days
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of dividend yield	1.69%	1.48%	1.58%
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of dividend yield	1.78%	1.55%	1.77%