Stock Plans - Weighted Average Risk Assumptions (Details) - Performance Stock Unit	6 Months Ended
	Jun. 30, 2023 $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value per unit (dollars per share)	$ 129.98
Monte Carlo Approach
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value per unit (dollars per share)	$ 131.46
Risk-free interest rate	4.40%
Expected dividend yield	1.43%
Expected volatility	36.70%
MSA stock beta	0.739