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Stock Based Compensation - Valuation Assumptions of Stock Options and Market-based Restricted Stock Awards Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Market-based Restricted Stock Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Underlying stock price at valuation date (in usd per share) $ 99.32 $ 113.27 $ 91.17
Expected volatility 36.70% 30.30% 27.00%
Risk-free interest rate 1.80% 1.30% 0.70%
Share-based Payment Arrangement, Option      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected volatility 40.70% 35.00% 25.30%
Risk-free interest rate 1.17% 0.05% 0.73%
Expected term (in years) 6 months 6 months 6 months
Dividend yield 0.00% 0.00% 0.00%