Shareholders' Equity (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Award Activity

The following table summarizes information about RSUs and restricted shares:

	Number of shares			Weighted average grant date fair value
Nonvested at December 31, 2022		707		$	99.09
RSUs granted		365		$	113.28
RSUs vested		(410	)	$	94.54
RSUs forfeited		(20	)	$	105.11
Nonvested at December 31, 2023		642		$	109.78

Schedule of Stock Option Activity

The following table summarizes information about stock options:

	Number of shares			Weighted average exercise price per share		Weighted average remaining contractual life		Aggregate intrinsic value
Outstanding at December 31, 2022		1,784		$	44.86
Options granted		—		$	—
Options exercised		(640	)	$	42.15
Options canceled		(9	)	$	35.39
Outstanding at December 31, 2023		1,135		$	46.46		1.66	$	91,645
Exercisable at December 31, 2023		1,135		$	46.46		1.66	$	91,645

Shared-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used

The fair value of employee stock purchase rights granted under the 2002 Plan is estimated on the date of grant using the Black-Scholes Model with the following assumptions:

	For the years ended December 31,
	2023			2022			2021
Dividend yield		1.20	%		1.30	%		1.10	%
Volatility		28	%		29	%		20	%
Risk-free interest rates		5.37	%		3.02	%		0.08	%
Expected life (years)		1			1			1
Weighted average fair value	$	31.56		$	27.07		$	28.55