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Stock Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Activity Under All Stock Plans and Weighted Average Exercise Prices
The following table reflects activity under all stock plans from December 31, 2020 through December 31, 2023, and the weighted average exercise prices (in thousands, except per share amounts):
 Non-Executive Officer
Time-Based Awards		Performance-Based Awards With Market ConditionsPerformance-Based Awards Without Market ConditionsTotal Awards With Performance Condition
 Number of
Shares/
Units		Weighted
Average
Grant Date
Fair Value		Number of
Shares/
Units		Weighted
Average
Grant Date
Fair Value		Number of
Shares/
Units		Weighted
Average
Grant Date
Fair Value		Number of
Shares/
Units		Weighted
Average
Grant Date
Fair Value
Outstanding, December 31, 20201,020 $57.57 459 $70.53 278 $56.83 737 $65.36 
Granted507 $76.49 167 $88.77 70 $56.83 237 $79.40 
Restrictions lapsed(530)$60.10 — — (348)$56.83 (348)$56.83 
Forfeited(46)$65.40 — — — — — — 
Outstanding, December 31, 2021951 $65.85 626 $75.41 — — 626 $75.41 
Granted410 $116.01 320 $96.20 — — 320 $96.20 
Restrictions lapsed(425)$64.27 (442)$74.01 — — (442)$74.01 
Forfeited(28)$80.78 — — — — — — 
Outstanding, December 31, 2022908 $88.74 504 $89.84 — — 504 $89.84 
Granted612 $79.98 357 $76.42 — — 357 $76.42 
Restrictions lapsed(389)$77.98 (401)$66.86 — — (401)$66.86 
Forfeited(32)$86.85 — — — — — — 
Outstanding, December 31, 20231,099 $87.72 460 $99.47 — — 460 $99.47