Stock-Based Compensation Programs - RSA and PCEQ activity (Details) - Restricted shares and restricted stock units	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Stock-Based Compensation Programs
Vesting period	5 years
Restricted stock activity, Number of shares
Beginning of year (in shares) | shares	1,246,404
Granted (in shares) | shares	420,731
Vested (in shares) | shares	(412,367)
Canceled/forfeited (in shares) | shares	(50,266)
End of year (in shares) | shares	1,204,502
Restricted stock activity, Weighted average grant price
Beginning of year (in dollars per share) | $ / shares	$ 56.64
Granted (in dollars per share) | $ / shares	75.82
Vested (in dollars per share) | $ / shares	53.62
Canceled/forfeited (in dollars per share) | $ / shares	79.55
End of year (in dollars per share) | $ / shares	$ 63.06