Stock-Based Compensation - Analysis of Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Options
Options Outstanding-beginning of year (in shares)	6,962,374	7,197,662	7,111,231
Options Exercised (in shares)	(1,375,313)	(1,519,728)	(1,191,704)
Options Expired and forfeited (in shares)	(143,801)	(15,771)	(5,977)
Options Outstanding-end of year (in shares)	5,940,320	6,962,374	7,197,662
Options Exercisable at end of year (in shares)	4,003,028	3,666,871	3,659,755
Weighted-Average Exercise Price
Outstanding-beginning of year, weighted average exercise price (in dollars per share)	$ 91.73	$ 85.11	$ 78.28
Options exercised in the period - weighted average exercise price (in dollars per share)	82.95	70.14	58.59
Options expired and forfeited in the period - weighted average exercise price (in dollars per share)	90.92	96.54	74.15
Outstanding-end of year, weighted average exercise price (in dollars per share)	96.19	91.73	85.11
Exercisable at end of year, weighted average exercise price (in dollars per share)	$ 91.23	$ 84.00	$ 75.55
7-year term
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Contract Period	7 years
Options
Options Granted (in shares)	497,060	1,300,211	1,284,112
Weighted-Average Exercise Price
Options granted in the period- weighted average exercise price (in dollars per share)	$ 120.49	$ 103.20	$ 98.28