Stock Incentive Plans - Valuation Assumptions (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividend yield	3.27%	2.18%	2.68%
Expected volatility	28.15%	27.34%	27.10%
Risk-free interest rate	3.55%	2.46%	1.13%
Expected life (in years)	5 years 10 months 24 days	6 years 3 months 18 days	6 years 3 months 18 days
Weighted-average grant date fair value (in dollars per share)	$ 21.78	$ 24.15	$ 14.57
Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividend yield	1.54%	1.12%	1.34%
Expected volatility	25.61%	23.54%	25.27%
Risk-free interest rate	5.17%	1.42%	0.08%
Expected life (in years)	6 months	6 months	6 months
Weighted-average grant date fair value (in dollars per share)	$ 14.26	$ 16.25	$ 12.55