Debt - Short-Term Borrowings (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 29, 2023	Mar. 28, 2023
Short-term Debt [Line Items]
Annualized interest rate	5.71%	4.78%
Letters of credit outstanding	$ 115,000	$ 125,000		$ 115,000	$ 125,000
Remaining amount available under credit line	$ 316,000	$ 340,000
Daily-weighted average interest rate (annualized)	5.40%	1.89%	0.23%
Maximum daily amount outstanding during period (par value)	$ 477,700	$ 500,529	$ 465,033
Short-term Debt
Short-term Debt [Line Items]
Balance commercial paper at end of period (at par value)	319,000	285,000
Commercial paper
Short-term Debt [Line Items]
Average balance of commercial paper outstanding during period (par value)	290,024	322,531	311,049
Commercial paper issued during period (par value)	2,029,000	2,269,444	1,964,313
Commercial paper matured during period (par value)	(1,995,000)	(2,314,477)	(1,889,280)
Net commercial paper issued (matured) during period (par value)	$ 34,000	$ (45,033)	$ 75,033