Employee Benefits - Summary of Weighted Average Grant-date Assumptions and Weighted Average Fair Values (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted average grant date assumptions and weighted average fair value
Weighted-average fair value of grants	$ 27.24	$ 21.43	$ 17.11
Risk-free interest rates	3.59%	2.95%	0.75%
Dividend yield	2.28%	2.50%	2.06%
Expected volatility	22.97%	22.89%	22.73%
Expected option life	4 years 11 months 15 days	5 years 18 days	4 years 11 months 19 days