Employee Stock Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Stock Plans
Outstanding beginning	568,319
Outstanding, Weighted-Average Exercise Price, beginning	$ 76.65
Exercised	(235,612)
Weighted-Average Exercise Price, Exercised	$ 74.75
Forfeited	(10,455)
Weighted-Average Exercise Price, Forfeited	$ 79.28
Outstanding ending	322,252	568,319
Outstanding, Weighted-Average Exercise Price, ending	$ 76.73	$ 76.65
Exercisable	272,555
Weighted-Average Exercise Price, Exercisable	$ 76.28
Outstanding, Weighted-Average Remaining Contractual Life	55 months
Exercisable, Weighted-Average Remaining Contractual Life	52 months
Outstanding, Aggregate Intrinsic Value	$ 14,668
Exercisable, Aggregate Intrinsic Value	12,529
Total intrinsic value of options exercised	12,500	$ 10,000	$ 26,600
Cash received from option exercises	$ 17,010	$ 17,340	$ 46,982
Vesting method on service period	3 years
Installments over a period	4 years
Directors' annual retainer fee	50.00%
Non-Employee
Employee Stock Plans
Installments over a period		1 year
Minimum
Employee Stock Plans
Percentage of performance awards deliverable in common stock	0.00%
Maximum
Employee Stock Plans
Percentage of performance awards deliverable in common stock	185.00%

Percentage of each directors annual retainer fee deferred and converted into units.

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Percentage of performance awards deliverable in common stock under share based compensation.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest exercisable or convertible options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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