Stock-Based Compensation - Summary of Options Outstanding (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options Outstanding, Number Outstanding (in shares)	5,940,320	6,962,374	7,197,662	7,111,231
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	3 years 8 months 4 days	4 years 29 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 96.19	$ 91.73	$ 85.11	$ 78.28
Options Exercisable, Number Exercisable (in shares)	4,003,028	3,666,871	3,659,755
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 91.23	$ 84.00	$ 75.55
Range One [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	50.64
Range of Exercise Prices, Maximum (in dollars per share)	$ 82.56
Options Outstanding, Number Outstanding (in shares)	1,210,102
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	2 years 3 months
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 78.28
Options Exercisable, Number Exercisable (in shares)	1,210,102
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 78.28
Range Two [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	87.60
Range of Exercise Prices, Maximum (in dollars per share)	$ 98.32
Options Outstanding, Number Outstanding (in shares)	1,908,002
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	3 years 3 months 29 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 93.98
Options Exercisable, Number Exercisable (in shares)	1,435,140
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 92.55
Range Three [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	$ 100.74
Options Outstanding, Number Outstanding (in shares)	1,039,117
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	3 years 1 month 2 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 100.74
Options Exercisable, Number Exercisable (in shares)	1,039,117
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 100.74
Range Four [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	103.23
Range of Exercise Prices, Maximum (in dollars per share)	$ 120.49
Options Outstanding, Number Outstanding (in shares)	1,783,099
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	5 years 4 months 6 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 108.04
Options Exercisable, Number Exercisable (in shares)	318,669
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 103.46
Range Five [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	50.64
Range of Exercise Prices, Maximum (in dollars per share)	$ 120.49
Options Outstanding, Number Outstanding (in shares)	5,940,320
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	3 years 8 months 4 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 96.19
Options Exercisable, Number Exercisable (in shares)	4,003,028
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 91.23