Stock-Based Compensation - Summary of Restricted Stock, Stock Grants, Stock Units and Performance Shares (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restricted Stock Units, Stock Grants, and Stock Units
Stocks granted and the weighted average fair value
Units granted (in shares)	192,295	174,791	152,345
Weighted-average grant date fair value (in dollars per share)	$ 74.32	$ 69.66	$ 76.72
Number of granted awards to be settled in cash (in shares)	0	0	51,074
Performance Shares
Stocks granted and the weighted average fair value
Units granted (in shares)	202,562	208,736	161,840
Weighted-average grant date fair value (in dollars per share)	$ 79.61	$ 77.63	$ 82.42