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Stock-Based Compensation - Summary of Restricted Stock Units (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Nonvested, beginning of year, RSUs (in shares) 1,220 1,074 1,331
Granted, RSUs (in shares) 867 861 508
Performance adjustment, market condition, RSUs (in shares) (11) (8) 17
Performance adjustment, performance condition, RSUs (in shares) 79 73 63
Vested, RSUs (in shares) (558) (598) (802)
Forfeited, RSUs (in shares) (59) (182) (43)
Nonvested, end of year, RSUs (in shares) 1,538 1,220 1,074
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Nonvested, beginning of year, weighted-average grant date fair value, RSUs (in dollars per share) $ 301.72 $ 278.02 $ 202.30
Granted, weighted-average grant date fair value, RSUs (in dollars per share) 314.04 299.08 333.45
Performance adjustment, market condition, weighted-average grant date fair value, RSUs (in dollars per share) 279.42 276.73 238.99
Performance adjustment, performance condition, weighted-average grant date fair value, RSUs (in dollars per share) 310.37 300.28 376.48
Vested, weighted-average grant date fair value, RSUs (in dollars per share) 300.30 257.51 195.12
Forfeited, weighted-average grant date fair value, RSUs (in dollars per share) 313.58 295.13 263.13
Nonvested, end of year, weighted-average grant date fair value, RSUs (in dollars per share) $ 309.33 $ 301.72 $ 278.02