Stock Options - Schedule of Qualified Stock Options Outstanding and Exercisable (Details) - Qualified Stock Options - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding (in shares)	75,862	84,647	87,610	100,920
Options exercisable (in shares)	34,027	43,412	49,360
$52.51 - $83.99
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	$ 52.51
Range of exercise price, upper range limit (in dollars per share)	$ 83.99
Options outstanding, exercise price range (in shares)	12,225
Options outstanding, remaining contractual life	2 years 2 months 23 days
Options outstanding, exercise price (in dollars per share)	$ 62.30
Options exercisable, exercise price range (in shares)	12,225
Options exercisable, exercise price (in dollars per share)	$ 62.30
$92.50 - $138.75
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	92.5
Range of exercise price, upper range limit (in dollars per share)	$ 138.75
Options outstanding, exercise price range (in shares)	34,852
Options outstanding, remaining contractual life	6 years 7 months 24 days
Options outstanding, exercise price (in dollars per share)	$ 120.20
Options exercisable, exercise price range (in shares)	16,432
Options exercisable, exercise price (in dollars per share)	$ 109.62
$156.38 - $234.57
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	156.38
Range of exercise price, upper range limit (in dollars per share)	$ 234.57
Options outstanding, exercise price range (in shares)	28,785
Options outstanding, remaining contractual life	8 years 1 month 17 days
Options outstanding, exercise price (in dollars per share)	$ 167.04
Options exercisable, exercise price range (in shares)	5,370
Options exercisable, exercise price (in dollars per share)	$ 156.38