CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Cash dividends (in dollars per share)	$ 1.17	$ 1.13	$ 1.09
Issuance of common shares pursuant to stock-based compensation plan, net (in shares)	84,366	82,172	85,056
Purchase of common shares (in shares)	150,541	130,374	713,857