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Accounting for Stock-based Compensation - Additional Information (Details)
$ / shares in Units, $ in Millions
12 Months Ended 24 Months Ended
Apr. 04, 2018
shares
Dec. 31, 2023
USD ($)
PerformancePeriod
$ / shares
shares
Dec. 31, 2022
USD ($)
PerformancePeriod
shares
Dec. 31, 2021
USD ($)
PerformancePeriod
shares
Dec. 31, 2020
shares
Dec. 31, 2015
PerformancePeriod
Dec. 31, 2022
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term   2 months 12 days          
Employee Stock Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, number of shares grants     0 0 0    
Share price | $ / shares   $ 134.09          
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $   $ 0.9 $ 1.9 $ 0.8      
Restricted Stock Units (RSUs)              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, award vesting period   3 years          
Share price | $ / shares   $ 134.09          
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 7.3 $ 10.8 $ 7.9      
Number of shares, granted   89,388 148,361 132,757      
Number of shares, vested   93,881 140,666 119,203      
Cash Settled RSUs              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, award vesting period     3 years        
Share price | $ / shares   $ 134.09          
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 7.9 $ 6.6 $ 8.7      
Number of shares, granted   70,742 115,024 52,246      
Number of shares, vested   81,537 75,566 104,272      
Performance Shares              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share price | $ / shares   $ 134.09          
Number of performance period in performance based share program | PerformancePeriod   1 2 3   2  
Percentage of multiplication award by product   2.00%          
Number of shares, granted   36,956 38,412 54,216 45,141   69,650
Number of shares, vested   45,141 47,634 63,258      
Number of shares, expected to vest   69,650          
Minimum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   0.00%          
Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   21.59%          
Omnibus Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, number of shares grants 2,050,000 2,631          
Share-based compensation arrangement by share-based payment award, number of shares available for grant   1,119,446          
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term   10 years          
Omnibus Plan | Non-Employee Director Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share price | $ / shares   $ 134.09          
Number of shares, granted   8,211 11,399 11,186      
Number of shares, vested   9,457 11,637 12,110