Equity and Cash Incentive Program - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	May 03, 2012	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	May 07, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for grant (in shares)					13,188,197
Plan expiration period	10 years
Service requisite period		3 years
Award term		10 years
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)		359,715	335,285	413,173
Unrecognized compensation expense		$ 10,967
Unrecognized compensation expense period of recognition		1 year 6 months
Granted (in dollars per share)		$ 47.27	$ 42.07	$ 29.08
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Service requisite period		3 years
Granted (in shares)		43,656	40,087	50,371
Unrecognized compensation expense		$ 9,599
Unrecognized compensation expense period of recognition		1 year 9 months 18 days
Vesting period		3 years
Granted (in dollars per share)		$ 249.48	$ 196.40	$ 148.29
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)		91,439	79,556	87,177
Unrecognized compensation expense		$ 10,387
Unrecognized compensation expense period of recognition		1 year 4 months 24 days
Vesting period		3 years
Granted (in dollars per share)		$ 153.25	$ 160.21	$ 122.73
2021 Plan - Rollover from 2012 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for grant (in shares)					4,888,197
2021 Plan - New Issuance
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for grant (in shares)					8,300,000