Stock Plans - Weighted Average Risk Assumptions (Details) - Performance Stock Unit	6 Months Ended
	Jun. 30, 2024 $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value per unit (dollars per share)	$ 177.30
Monte Carlo Approach
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value per unit (dollars per share)	$ 181.31
Risk-free interest rate	4.34%
Expected dividend yield	1.19%
Expected volatility	25.90%
MSA stock beta	0.728