Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) - $ / shares	3 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]
Issuance of common stock through stock awards (in shares)		7,126	161,050		7,197	241,750
Exercise of stock options (in shares)	850	11,540	10,595	114,440	13,131	26,190
Issuance of common stock through employee purchase plan (in shares)	37,407	34,283	45,232	35,016	32,172	36,347
Purchase of treasury stock (in shares)	431		56,808	588		95,091
Cash dividends declared per share of common stock (in dollars per share)	$ 1.25	$ 1.25	$ 1.25	$ 1.20	$ 1.20	$ 1.10
Preferred stock dividend shares (in dollars per share)	$ 15.95	$ 15.95	$ 15.95	$ 15.95	$ 15.95	$ 15.95