Stock-Based Incentive Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares Under Option
Beginning of period, outstanding (in shares)	475,904	1,014,670	1,217,438
Granted (in shares)	75,795	95,891	167,969
Exercised (in shares)	(3,505)	(524,536)	(270,024)
Forfeited (in shares)	(6,171)	(59,468)	(45,247)
Expired (in shares)	(2,448)	(50,653)	(55,466)
End of period, outstanding (in shares)	539,575	475,904	1,014,670
Vested and expected to vest (in shares)	528,037
Exercisable (in shares)	378,811
Weighted Average Exercise Price Per Share
Beginning of period, outstanding (in USD per share)	$ 76.65	$ 64.16	$ 66.43
Granted (in USD per share)	70.08	75.28	87.17
Exercised (in USD per share)	68.80	48.79	76.01
Forfeited (in USD per share)	81.13	88.39	86.39
Expired (in USD per share)	94.43	98.61	107.78
End of period, outstanding (in USD per share)	75.65	$ 76.65	$ 64.16
Vested and expected to vest (in USD per share)	75.72
Exercisable (in USD per share)	$ 75.95
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term, outstanding (in years)	6 years 9 months 18 days
Weighted average remaining contractual term, vested and expected to vest (in years)	5 years 10 months 24 days
Weighted average remaining contractual term, exercisable (in years)	4 years 10 months 24 days
Aggregate intrinsic value, outstanding	$ 3.5
Aggregate intrinsic value, vested and expected to vest	1.5
Aggregate intrinsic value, exercisable	$ 1.3

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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Net number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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