Stock-Based Compensation - Restricted Stock Units and Performance Restricted Stock Units (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restricted stock units and Performance restricted stock units
Number of Shares
Unvested at beginning of period (in shares)	1,921,927
Granted (in shares)	1,191,796
Forfeited (in shares)	(145,648)
Vested (in shares)	(769,664)
Unvested at end of period (in shares)	2,198,411	1,921,927
Weighted-Average Grant Date Fair Value
Unvested at beginning of period (in dollars per share)	$ 93.80
Granted (in dollars per share)	94.76
Forfeited (in dollars per share)	91.84
Vested (in dollars per share)	86.06
Unvested at end of period (in dollars per share)	$ 97.17	$ 93.80
Unrecognized compensation expense	$ 138.7
Unrecognized compensation expense, period for recognition (years)	2 years 6 months
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vested in period, fair value	$ 66.6	$ 57.7	$ 54.9
Weighted-Average Grant Date Fair Value
Number of vested shares recipient elected to defer settlement (in shares)	2,925
Number of vested shares recipients elected to defer settlement, released during period (in shares)	362,100
Number of deferred shares vested and outstanding (in shares)	327,269
Performance restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	3 years
Minimum | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	3 years
Maximum | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	4 years
Cliff-vesting | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	3 years
Cliff-vesting | Board of Directors | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	1 year