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Stock-based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement, Noncash Expense [Abstract]  
Schedule of Share-based Compensation, Stock Options, Activity
The following table summarizes information about the Company’s stock option awards during 2023:

Number of
Shares		Weighted-Average
Exercise
Price
Outstanding, January 1, 20231,852,603 $37.79 
Granted120,195 44.94 
Exercised— — 
Forfeited(67,605)54.23 
Outstanding, December 31, 20231,905,193 37.66 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range
The following table summarizes information about stock options outstanding at December 31, 2023:

 Options OutstandingOptions Exercisable
Range of
Exercise
Prices		Number
of Shares		Average
Remaining
Life (Years)		Average
Exercise
Price		Number
of Shares		Average
Exercise
Price
$30.32
1,183,406 8.53$30.32 — $— 
$30.71 to $37.13
128,164 2.1532.14 123,255 32.09 
$44.94 to $47.04
256,177 6.2545.79 126,718 46.61 
$51.55 to $59.46
178,663 4.4255.87 166,328 56.12 
$60.72 to $66.10
158,783 3.9263.17 158,783 63.17 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions The fair value of each stock option grant on the date of grant was estimated using the Black-Scholes option-pricing model based on the following weighted average assumptions:
202320222021
Risk-free interest rate3.85 %1.98 %0.55 %
Expected life (years)5.55.55.5
Expected volatility41.6 %40.1 %40.0 %
Expected dividend yield1.20 %1.22 %1.23 %
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable
The following table summarizes information about stock options outstanding that are expected to vest and stock options outstanding that are exercisable at December 31, 2023:

Options Outstanding, Expected to VestOptions Outstanding, Exercisable
Shares
Weighted-
Average
Exercise
Price		Aggregate
Intrinsic
Value		Weighted-
Average
Remaining
Term (Years)		SharesWeighted-
Average
Exercise
Price		Aggregate
Intrinsic
Value		Weighted-
Average
Remaining
Term (Years)
1,836,720 $37.66 $2,845 7.03575,084 $50.82 $182 3.47
Schedule of Share-based Compensation, Restricted Stock Units, Activity
The following table summarizes information about the Company’s Rights during 2023:

Service Based RightsService and Performance Based RightsService and Market Based Rights
Number of UnitsWeighted-Average Grant Date Fair ValueNumber of UnitsWeighted-Average Grant Date Fair ValueNumber of UnitsWeighted-Average Grant Date Fair Value
Outstanding, January 1, 2023302,239 $40.62 140,361 $53.76 70,204 $93.58 
Granted302,440 40.53 87,343 44.94 43,682 76.61 
Forfeited(73,535)42.56 (20,607)47.07 (10,307)81.66 
Additional Earned— — (46,102)64.65 (23,072)111.39 
Issued(109,163)47.92 — — — — 
Outstanding, December 31, 2023421,981 160,995 80,507