Stock Repurchase Programs (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Aug. 02, 2016	Nov. 04, 2014
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	0		0
Aggregate purchase price for repurchased shares	$ 0	$ 52,210,000	$ 0
2016 and 2014 Share Repurchase Programs
Equity, Class of Treasury Stock [Line Items]
Remaining value of shares authorized for repurchase under stock repurchase programs	$ 2,700,000
Number of shares repurchased (in shares)		389,300
Average price of repurchased shares (in dollars per share)		$ 134.11
Aggregate purchase price of treasury stock		$ 52,200,000
2016 Repurchase Program
Equity, Class of Treasury Stock [Line Items]
Value of shares authorized for repurchase under stock repurchase programs (up to)				$ 50,000,000
2014 Share Repurchase Program
Equity, Class of Treasury Stock [Line Items]
Value of shares authorized for repurchase under stock repurchase programs (up to)					$ 50,000,000