Stock-Based Compensation Plans - Activity for Awards Made Outside of Share-Based Compensation Plans (Details) - 2016 Plan - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares / Units (1)(2)
Shares outstanding, beginning of period (in shares)	1,038	1,316	1,074
Shares, granted (in shares)	204	202	190
Shares, performance adjustment (in shares)	49	94	516
Shares, vested (in shares)	(469)	(551)	(440)
Shares cancelled/forfeited (in shares)	(7)	(23)	(24)
Shares outstanding, end of period (in shares)	815	1,038	1,316
Weighted Average Grant Date Fair Value
Shares outstanding, weighted average grant date fair value, beginning of period (in dollars per share)	$ 55.07	$ 45.14	$ 47.07
Shares, weighted average grant date fair value, granted (in dollars per share)	127.69	110.76	111.63
Shares, weighted average grant date fair value, adjustments (in dollars per share)	127.15	91.23	34.44
Shares, weighted average grant date fair value, vested (in dollars per share)	71.91	64.83	53.82
Shares, weighted average grant date fair value, cancelled/forfeited (in dollars per share)	99.74	104.41	80.21
Shares outstanding, weighted average grant date fair value, end of period (in dollars per share)	$ 139.72	$ 55.07	$ 45.14
PSUs
Number of Shares / Units (1)(2)
Shares outstanding, beginning of period (in shares)	741	958	604
Shares, granted (in shares)	62	68	54
Shares, performance adjustment (in shares)	49	94	516
Shares, vested (in shares)	(305)	(368)	(216)
Shares cancelled/forfeited (in shares)	0	(11)	0
Shares outstanding, end of period (in shares)	547	741	958
Weighted Average Grant Date Fair Value
Shares outstanding, weighted average grant date fair value, beginning of period (in dollars per share)	$ 45.04	$ 41.50	$ 41.70
Shares, weighted average grant date fair value, granted (in dollars per share)	134.12	110.13	127.15
Shares, weighted average grant date fair value, adjustments (in dollars per share)	127.15	91.23	34.44
Shares, weighted average grant date fair value, vested (in dollars per share)	62.10	57.66	46.45
Shares, weighted average grant date fair value, cancelled/forfeited (in dollars per share)	0	106.90	0
Shares outstanding, weighted average grant date fair value, end of period (in dollars per share)	$ 99.64	$ 45.04	$ 41.50
RSAs and RSUs
Number of Shares / Units (1)(2)
Shares outstanding, beginning of period (in shares)	297	358	470
Shares, granted (in shares)	142	134	136
Shares, performance adjustment (in shares)	0	0	0
Shares, vested (in shares)	(164)	(183)	(224)
Shares cancelled/forfeited (in shares)	(7)	(12)	(24)
Shares outstanding, end of period (in shares)	268	297	358
Weighted Average Grant Date Fair Value
Shares outstanding, weighted average grant date fair value, beginning of period (in dollars per share)	$ 80.09	$ 67.51	$ 53.95
Shares, weighted average grant date fair value, granted (in dollars per share)	124.89	111.08	105.56
Shares, weighted average grant date fair value, adjustments (in dollars per share)	0	0	0
Shares, weighted average grant date fair value, vested (in dollars per share)	90.1	79.45	60.89
Shares, weighted average grant date fair value, cancelled/forfeited (in dollars per share)	99.74	102.36	80.21
Shares outstanding, weighted average grant date fair value, end of period (in dollars per share)	$ 69.60	$ 80.09	$ 67.51