Stock-Based Compensation Programs - RSA and PCEQ activity (Details) - Restricted shares and restricted stock units	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Stock-Based Compensation Programs
Vesting period	5 years
Restricted stock activity, Number of shares
Beginning of year (in shares) | shares	1,204,502
Granted (in shares) | shares	423,699
Vested (in shares) | shares	(109,332)
Canceled/forfeited (in shares) | shares	(173,624)
End of year (in shares) | shares	1,345,245
Restricted stock activity, Weighted average grant price
Beginning of year (in dollars per share) | $ / shares	$ 63.06
Granted (in dollars per share) | $ / shares	67.40
Vested (in dollars per share) | $ / shares	81.98
Canceled/forfeited (in dollars per share) | $ / shares	71.59
End of year (in dollars per share) | $ / shares	$ 57.44