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Stock Plans - Activity Under All Stock Plans and Weighted Average Exercise Prices (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Non-Executive Officer Time-Based Awards      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 951 1,020 947
Granted (in shares) 410 507 625
Restrictions lapsed (in shares) (425) (530) (526)
Forfeited (in shares) (28) (46) (26)
Outstanding, Ending Balance (in shares) 908 951 1,020
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 65.85 $ 57.57 $ 57.67
Granted (usd per share) 116.01 76.49 54.92
Restrictions lapsed (usd per share) 64.27 60.10 54.57
Forfeited (usd per share) 80.78 65.40 58.37
Outstanding Ending Balance (usd per share) $ 88.74 $ 65.85 $ 57.57
Performance-Based Awards With Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 626 459 236
Granted (in shares) 320 167 223
Restrictions lapsed (in shares) (442) 0 0
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 504 626 459
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 75.41 $ 70.53 $ 74.01
Granted (usd per share) 96.20 88.77 66.86
Restrictions lapsed (usd per share) 74.01 0 0
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 89.84 $ 75.41 $ 70.53
Performance-Based Awards Without Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 0 278 608
Granted (in shares) 0 70 70
Restrictions lapsed (in shares) 0 (348) (400)
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 0 0 278
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 0 $ 56.83 $ 51.74
Granted (usd per share) 0 56.83 47.45
Restrictions lapsed (usd per share) 0 56.83 47.45
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 0 $ 0 $ 56.83
Total Awards With Performance Condition      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 626 737 844
Granted (in shares) 320 237 293
Restrictions lapsed (in shares) (442) (348) (400)
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 504 626 737
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 75.41 $ 65.36 $ 57.97
Granted (usd per share) 96.20 79.40 62.22
Restrictions lapsed (usd per share) 74.01 56.83 47.45
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 89.84 $ 75.41 $ 65.36