Share-Based Compensation Plans - Summary of Activity Related to Restricted Stock Granted under Company's Incentive Plan (Details) - Restricted Stock Grants - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Total Shares
Total Shares, Outstanding, Beginning Balance	427	419	422
Total Shares, Granted	193	184	167
Total Shares, Vested	(134)	(144)	(155)
Total Shares, Forfeited, canceled or expired	(10)	(32)	(15)
Total Shares, Outstanding, Ending Balance	476	427	419
Weighted Average Grant Date
Weighted Average Grant Date Fair Value, Beginning Balance	$ 86.24	$ 83.43	$ 76.43
Weighted Average Grant Date Fair Value, Granted	83.10	86.05	84.31
Weighted Average Grant Date Fair Value, Vested	85.07	74.90	65.19
Weighted Average Grant Date Fair Value, Forfeited, canceled or expired	85.49	87.00	84.64
Weighted Average Grant Date Fair Value, Ending Balance	$ 85.32	$ 86.24	$ 83.43