Stock-based Compensation Expense - Weighted-Average Assumptions used to Estimate Fair Value of Each Option Granted (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividend yield	1.26%	1.32%	1.43%
Volatility	40.06%	36.21%	36.19%
Average expected life (years)	6 years	6 years	6 years
Risk-free interest rate	3.95%	1.97%	1.44%
Fair value of options granted (in dollars per share)	$ 98.66	$ 63.00	$ 49.42
Performance Unit Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Volatility	50.41%	51.51%	47.13%
Risk-free interest rate	4.51%	1.72%	0.27%