Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation
Risk-free interest rates (as a percent)	4.28%	3.03%	0.62%
Expected life	4 years 6 months	4 years 4 months 24 days	4 years 4 months 24 days
Volatility (as a percent)	37.00%	36.00%	34.00%
Expected dividend yield	0.30%	0.32%	0.20%
Weighted-average fair value per share	$ 23.02	$ 19.68	$ 21.69
Employee Stock Option [Member] | Minimum
Stock-Based Compensation
Vesting period	3 years
Employee Stock Option [Member] | Maximum
Stock-Based Compensation
Vesting period	4 years