Stock-Based Compensation - Analysis of Shares Available for Grant (Details)	12 Months Ended
	Dec. 31, 2023 shares	Dec. 31, 2022 shares	Dec. 31, 2021 shares
Activity by Share-based Payment Award
Balance at January 1 (in shares)	3,177,886	4,727,088	5,984,418
Expired and forfeited during year (in shares)	122,962	13,405	5,304
Performance shares expired and forfeited during year (in shares)	39,060	23,250	34,255
Restricted stock units expired and forfeited during the year (in shares)	12,513	0	0
Balance at December 31 (in shares)	2,331,316	3,177,886	4,727,088
Stock Options
Activity by Share-based Payment Award
Options granted during year (in shares)	(422,501)	(1,105,180)	(1,091,495)
Restricted Stock, Restricted Stock Units And Performance Shares
Activity by Share-based Payment Award
Restricted stock, restricted stock units, and performance shares granted (in shares)	(598,604)	(480,677)	(205,394)
Minimum
Activity by Share-based Payment Award
Ratio by which each grant of stock options reduces shares available for grant	0.85
Ratio by which each grant of restricted stock reduces shares available for options	3.10
Maximum
Activity by Share-based Payment Award
Ratio by which each grant of stock options reduces shares available for grant	1.0
Ratio by which each grant of restricted stock reduces shares available for options	3.88