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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Non-Executive Officer Time-Based Awards      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 908 951 1,020
Granted (in shares) 612 410 507
Restrictions lapsed (in shares) (389) (425) (530)
Forfeited (in shares) (32) (28) (46)
Outstanding, Ending Balance (in shares) 1,099 908 951
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 88.74 $ 65.85 $ 57.57
Granted (usd per share) 79.98 116.01 76.49
Restrictions lapsed (usd per share) 77.98 64.27 60.10
Forfeited (usd per share) 86.85 80.78 65.40
Outstanding Ending Balance (usd per share) $ 87.72 $ 88.74 $ 65.85
Performance-Based Awards With Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 504 626 459
Granted (in shares) 357 320 167
Restrictions lapsed (in shares) (401) (442) 0
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 460 504 626
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 89.84 $ 75.41 $ 70.53
Granted (usd per share) 76.42 96.20 88.77
Restrictions lapsed (usd per share) 66.86 74.01 0
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 99.47 $ 89.84 $ 75.41
Performance-Based Awards Without Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 0 0 278
Granted (in shares) 0 0 70
Restrictions lapsed (in shares) 0 0 (348)
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 0 0 0
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 0 $ 0 $ 56.83
Granted (usd per share) 0 0 56.83
Restrictions lapsed (usd per share) 0 0 56.83
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 0 $ 0 $ 0
Total Awards With Performance Condition      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 504 626 737
Granted (in shares) 357 320 237
Restrictions lapsed (in shares) (401) (442) (348)
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 460 504 626
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 89.84 $ 75.41 $ 65.36
Granted (usd per share) 76.42 96.20 79.40
Restrictions lapsed (usd per share) 66.86 74.01 56.83
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 99.47 $ 89.84 $ 75.41