Stock-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) plan $ / shares shares	Dec. 31, 2021 $ / shares shares	Dec. 31, 2020 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available for issuance under the 2016 Plan (in shares)	1,681,526
Unrecognized compensation expense for all nonvested awards | $	$ 28,900
Weighted average period for recognition (in years)	1 year 7 months 6 days
Deferred compensation plans and restricted share awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Deferred compensation conversion unit (in shares)	1
Number of deferred compensation plans | plan	2
Number of deferred stock units (in shares)	383,792
Number of deferred stock units payable in cash (in shares)	9,366
Deferred compensation plans and restricted share awards | Non-Employee Directors
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted at target level (in shares)	4,827	6,034
Granted at target level (in dollars per share) | $ / shares	$ 300.78	$ 338.38
Share-based Payment Arrangement, Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares reduced for each award granted (in shares)	1
Awards, expiration period (in years)	10 years
Award Types Other than Stock Options and Stock Appreciation Rights
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares reduced for each award granted (in shares)	2.5
Stock Appreciation Rights (SARs)
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Awards, expiration period (in years)	10 years
Vesting period (in years)	4 years
Stock-settled PSU awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted at target level (in shares)	32,109
Granted at target level (in dollars per share) | $ / shares	$ 362.40	$ 333.58	$ 177.31
Employee stock purchase plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available for issuance under the 2016 Plan (in shares)	3,738,000
Percentage of current market price for sales to eligible employees (as a percent)	85.00%
Limitation on payroll deductions of employee's base salary (as a percent)	25.00%
Limitation on payroll deductions of employee's base salary, amount | $	$ 25
Maximum number of shares per employee (in shares)	2,000
Maximum number of shares per employee, per year (in shares)	8,000
Purchases of shares (in shares)	27,894	27,016	36,494
Restricted Stock
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted at target level (in shares)	9,648	6,002	8,721
Granted at target level (in dollars per share) | $ / shares	$ 310.52	$ 312.41	$ 200.35