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Stock Plans - Summary of Performance Stock Unit Activity (Details)
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Weighted Average Grant Date Fair Value  
Percentage of target award based on achieving specified performance targets 94.90%
Performance Stock Unit  
Shares  
Unvested, beginning balance (in shares) | shares 178,760
Granted (in shares) | shares 75,425
Performance adjustments (in shares) | shares (3,009)
Vested (in shares) | shares (53,407)
Forfeited (in shares) | shares (796)
Unvested, ending balance (in shares) | shares 196,973
Weighted Average Grant Date Fair Value  
Unvested, beginning balance (dollars per share) | $ / shares $ 146.28
Granted (dollars per share) | $ / shares 131.46
Performance adjustments (dollars per share) | $ / shares 127.40
Vested (dollars per share) | $ / shares 127.36
Forfeited (dollars per share) | $ / shares 139.27
Unvested, ending Balance (dollars per share) | $ / shares $ 146.05
Award vesting period 3 years