Incentive Stock Program - Fair Value Assumptions (Details) - Stock Options - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Fair value (in dollars per share)	$ 26.87	$ 25.26	$ 24.17
Risk-free interest rate (as a percent)	4.00%	1.90%	0.80%
Average life of options (years)	6 years	6 years	6 years
Volatility (as a percent)	24.40%	23.80%	23.80%
Dividend yield (as a percent)	1.90%	1.60%	1.50%