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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) (Unaudited) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Statement of Stockholders' Equity [Abstract]            
Dividend declared (in dollars per share) $ 0.640 $ 0.590 $ 1.230 $ 1.125    
Deferred compensation plan held Rabbi Trust (shares) 113,000 110,000 113,000 110,000 108,000 108,000
Preferred Stock, Shares Authorized 2,000,000.0   2,000,000.0   2,000,000,000  
Preferred Stock, Par or Stated Value Per Share $ 10.00   $ 10.00   $ 10.00  
Shares issued under the performance incentive plan withheld for employee taxes (shares)     14,000 20,000