Annual report pursuant to Section 13 and 15(d)

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

v3.22.4
Stock-Based Compensation (Summary of Stock Option Activity) (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]        
Options outstanding, beginning, number of shares 1,933,534 1,919,163 1,479,674  
Granted, number of shares 561,295 687,772 660,071  
Cancelled, number of shares (223,813) (213,444) (78,163)  
Exercised, number of shares (116,109) (459,957) (142,419)  
Options outstanding, ending, number of shares 2,154,907 1,933,534 1,919,163 1,479,674
Options outstanding, beginning, weighted average exercise price $ 83.19 $ 74.45 $ 66.74  
Granted, weighted average exercise price 89.25 95.90 87.25  
Cancelled, weighted average exercise price 91.09 89.96 83.76  
Exercised, weighted average exercise price 56.75 62.58 48.58  
Options outstanding, ending, weighted average exercise price $ 85.37 $ 83.19 $ 74.45 $ 66.74
Options outstanding, beginning, weighted average remaining contractual life, years 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days 7 years 1 month 9 days
Options outstanding, ending, weighted average remaining contractual life, years 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days 7 years 1 month 9 days
Options outstanding, beginning, aggregate intrinsic value $ 29,889,000 $ 29,489,000 $ 49,930,000  
Options outstanding, ending, aggregate intrinsic value $ 13,929,000 $ 29,889,000 $ 29,489,000 $ 49,930,000
Options vested and expected to vest, number of shares 2,070,905      
Options vested and expected to vest, weighted average exercise price $ 85.12      
Options vested and expected to vest, weighted average remining contractual life, years 6 years 11 months 12 days      
Options vested and expected to vest, aggregate intrinsic value $ 13,855,000      
Options exercisable, number of shares 958,748      
Options exercisable, weighted average exercise price $ 77.38      
Options exercisable, weighted average remaining contractual life 5 years 5 months 1 day      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options outstanding, beginning, weighted average remaining contractual life, years 7 years 7 days 7 years 3 months 3 days 7 years 2 months 8 days 7 years 1 month 9 days
Options vested and expected to vest, number of shares 2,070,905      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number 2,154,907 1,933,534 1,919,163 1,479,674
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price $ 85.37 $ 83.19 $ 74.45 $ 66.74
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value $ 13,929,000 $ 29,889,000 $ 29,489,000 $ 49,930,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures 561,295 687,772 660,071  
Granted, weighted average exercise price $ 89.25 $ 95.90 $ 87.25  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period 223,813 213,444 78,163  
Cancelled, weighted average exercise price $ 91.09 $ 89.96 $ 83.76  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period 116,109 459,957 142,419  
Exercised, weighted average exercise price $ 56.75 $ 62.58 $ 48.58  
Options vested and expected to vest, weighted average exercise price $ 85.12      
Options vested and expected to vest, weighted average remining contractual life, years 6 years 11 months 12 days      
Options vested and expected to vest, aggregate intrinsic value $ 13,855,000      
Options exercisable, number of shares 958,748      
Options exercisable, weighted average exercise price $ 77.38      
Options exercisable, weighted average remaining contractual life 5 years 5 months 1 day      
Options exercisable, aggregate intrinsic value $ 12,735,000      
Stock-based compensation expense $ 21,021,000 $ 19,126,000 $ 17,778,000  
Stock Options [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term, years 4 years 4 months 9 days 4 years 4 months 6 days 4 years 4 months 20 days  
Expected stock price volatility 25.38% 24.88% 21.19%  
Risk-free interest rate 1.72% 0.54% 1.14%  
Expected dividend yield 1.26% 1.09% 1.13%  
Weighted average grant date fair value $ 18.33 $ 17.95 $ 14.67  
Stock-based compensation expense $ 7,800,000 $ 6,900,000 $ 7,000,000  
Unrecognized costs related to share based compensation $ 12,900,000      
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 2 years 2 months 4 days      
Intrinsic value of stock options exercised $ 3,400,000 19,200,000 4,900,000  
Cash received on exercises of stock options $ 6,600,000 $ 28,800,000 $ 6,900,000