Equity and Cash Incentive Program - Performance Shares and RSU Activity (Details) - $ / shares	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Performance Shares
Number of Shares
Unvested, beginning balance (in shares)	96,129
Granted (in shares)	40,087	50,371	49,056
Forfeited (in shares)	(4,690)
Vested (in shares)	(45,719)
Unvested, ending balance (in shares)	85,807	96,129
Weighted Average Grant-Date Fair Value
Unvested, beginning balance (in dollars per share)	$ 156.88
Granted (in dollars per share)	196.40	$ 148.29	$ 165.71
Forfeited (in dollars per share)	167.93
Vested (in dollars per share)	165.71
Unvested, ending balance (in dollars per share)	$ 170.03	$ 156.88
Restricted Stock Units (RSUs)
Number of Shares
Unvested, beginning balance (in shares)	202,682
Granted (in shares)	79,556	87,177	83,512
Forfeited (in shares)	(14,920)
Vested (in shares)	(119,642)
Unvested, ending balance (in shares)	147,676	202,682
Weighted Average Grant-Date Fair Value
Unvested, beginning balance (in dollars per share)	$ 107.03
Granted (in dollars per share)	160.21	$ 122.73	$ 119.86
Forfeited (in dollars per share)	136.85
Vested (in dollars per share)	101.41
Unvested, ending balance (in dollars per share)	$ 135.98	$ 107.03

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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No definition available.

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- Definition

Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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- Definition

The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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