Stock-Based Compensation Key Assumptions for Restricted Stock Grants (Details) - Restricted Stock	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk free rate	4.096%	1.01%	0.161%
Dividend yield	3.55%	2.024%	3.341%
Volatility	28.99%	25.84%	28.04%
Requisite service period	3 years	3 years	3 years