Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Cash dividends, per share (usd per share)	$ 1.92	$ 1.72	$ 1.52
Dividends declared per share (usd per share)	$ 1.92	$ 1.72	$ 1.52