Stock-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) plan $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available for issuance under the 2016 Plan (in shares)	1,434,547
Unrecognized compensation expense for all nonvested awards | $	$ 28,200
Weighted average period for recognition (in years)	1 year 7 months 6 days
Weighted average remaining contractual life of options outstanding (in years)	4 years 8 months 12 days
Weighted average remaining contractual life of options exercisable (in years)	3 years 9 months 18 days
Aggregate intrinsic value of total options outstanding | $	$ 296,000
Aggregate intrinsic value of total options vested | $	$ 276,900
Weighted average grant date fair value of options granted (in dollars per share) | $ / shares	$ 108.95	$ 96.43	$ 64.51
Intrinsic value of options exercised | $	$ 151,000	$ 60,100	$ 147,300
Grant date fair value of options vested | $	$ 8,600	$ 8,800	$ 8,300
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)	352,541
Number of deferred stock units payable in cash (in shares)	8,931
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 dollars per share) | $ / shares	$ 357.00	$ 300.78
Granted at target level (in shares)	6,160	4,827
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
Risk-free interest rate (as a percent)	4.10%	1.80%	0.80%
Stock volatility (as a percent)	29.80%	25.10%	23.90%
Dividend yield (as a percent)	0.30%	0.20%	0.30%
Expected life (in years)	5 years 8 months 12 days	5 years 7 months 6 days	5 years 7 months 6 days
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
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number	15,407	20,402
Stock-settled PSU awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted at target level (in dollars per share) | $ / shares	$ 306.97	$ 362.40	$ 333.58
Number of shares to be issued upon conversion (in shares)	36,080
Average remaining term of shares issued at conversion	1 year
Granted at target level (in shares)	37,736
Stock-settled PSU awards | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Actual payout range	0.00%
Stock-settled PSU awards | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Actual payout range	200.00%
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)	3,714,353
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)	23,955	27,894	27,016
Restricted Stock
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Granted at target level (in dollars per share) | $ / shares	$ 314.06	$ 310.52	$ 312.41
Granted at target level (in shares)	8,343	9,648	6,002