Basis of Presentation and Significant Accounting Policies - Fair Value Assumptions for Stock Option Pricing (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of stock options granted (in shares)	209,028	162,224	183,272
Weighted average grant date fair value of stock options granted (in usd per share)	$ 8.50	$ 8.51	$ 7.73
Weighted average assumptions:
Expected dividend yield	3.60%	3.20%	3.00%
Expected life, in years	5 years 3 months 18 days	5 years 2 months 12 days	5 years 1 month 6 days
Expected volatility (based on historical volatility)	30.90%	30.20%	30.10%
Options Member
Weighted average assumptions:
Risk-free interest rate	4.10%	1.90%	0.80%