Stock Plans and Share-Based Compensation - Assumptions Used to Estimate Fair Value of Performance Units (Details) - Performance Units	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free Interest Rate	4.40%	2.30%	0.20%
Annualized Volatility	33.20%	33.00%	33.60%
Expected Life (in years)	2 years 9 months 18 days	2 years 8 months 12 days	2 years 10 months 24 days