Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation (Summary of Stock Option Activity) (Details)

v3.24.0.1
Stock-Based Compensation (Summary of Stock Option Activity) (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Payment Arrangement [Abstract]        
Options outstanding, beginning, number of shares 2,154,907 1,933,534 1,919,163  
Granted, number of shares 500,219 561,295 687,772  
Cancelled, number of shares (246,104) (223,813) (213,444)  
Exercised, number of shares (129,008) (116,109) (459,957)  
Options outstanding, ending, number of shares 2,280,014 2,154,907 1,933,534 1,919,163
Options outstanding, beginning, weighted average exercise price $ 85.37 $ 83.19 $ 74.45  
Granted, weighted average exercise price 88.39 89.25 95.90  
Cancelled, weighted average exercise price 90.60 91.09 89.96  
Exercised, weighted average exercise price 57.00 56.75 62.58  
Options outstanding, ending, weighted average exercise price $ 87.08 $ 85.37 $ 83.19 $ 74.45
Options outstanding, beginning, weighted average remaining contractual life, years 6 years 8 months 19 days 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days
Options outstanding, ending, weighted average remaining contractual life, years 6 years 8 months 19 days 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days
Options outstanding, beginning, aggregate intrinsic value $ 13,929,000 $ 29,889,000 $ 29,489,000  
Options outstanding, ending, aggregate intrinsic value $ 10,051,000 $ 13,929,000 $ 29,889,000 $ 29,489,000
Options vested and expected to vest, number of shares 2,208,014      
Options vested and expected to vest, weighted average exercise price $ 87.01      
Options vested and expected to vest, weighted average remining contractual life, years 6 years 7 months 28 days      
Options vested and expected to vest, aggregate intrinsic value $ 9,979,000      
Options exercisable, number of shares 1,250,833      
Options exercisable, weighted average exercise price $ 84.88      
Options exercisable, weighted average remaining contractual life 5 years 5 months 23 days      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options outstanding, beginning, weighted average remaining contractual life, years 6 years 8 months 19 days 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days
Options vested and expected to vest, number of shares 2,208,014      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number 2,280,014 2,154,907 1,933,534 1,919,163
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price $ 87.08 $ 85.37 $ 83.19 $ 74.45
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value $ 10,051,000 $ 13,929,000 $ 29,889,000 $ 29,489,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures 500,219 561,295 687,772  
Granted, weighted average exercise price $ 88.39 $ 89.25 $ 95.90  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period 246,104 223,813 213,444  
Cancelled, weighted average exercise price $ 90.60 $ 91.09 $ 89.96  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period 129,008 116,109 459,957  
Exercised, weighted average exercise price $ 57.00 $ 56.75 $ 62.58  
Options vested and expected to vest, weighted average exercise price $ 87.01      
Options vested and expected to vest, weighted average remining contractual life, years 6 years 7 months 28 days      
Options vested and expected to vest, aggregate intrinsic value $ 9,979,000      
Options exercisable, number of shares 1,250,833      
Options exercisable, weighted average exercise price $ 84.88      
Options exercisable, weighted average remaining contractual life 5 years 5 months 23 days      
Options exercisable, aggregate intrinsic value $ 9,038,000      
Stock-based compensation expense $ 23,051,000 $ 21,021,000 $ 19,126,000  
Stock Options [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term, years 4 years 4 months 20 days 4 years 4 months 9 days 4 years 4 months 6 days  
Expected stock price volatility 27.37% 25.38% 24.88%  
Risk-free interest rate 4.03% 1.72% 0.54%  
Expected dividend yield 1.36% 1.26% 1.09%  
Weighted average grant date fair value $ 22.61 $ 18.33 $ 17.95  
Stock-based compensation expense $ 8,200,000 $ 7,800,000 $ 6,900,000  
Unrecognized costs related to share based compensation $ 13,000,000      
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 2 years 3 months 3 days      
Intrinsic value of stock options exercised $ 3,000,000 3,400,000 19,200,000  
Cash received on exercises of stock options $ 7,400,000 $ 6,600,000 $ 28,800,000