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Employee Stock Plans - Summary of Non-Vested Shares (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
May 31, 2023
Employee Stock Plans        
Non-employee director award       $ 0.2
Non-vested shares balance beginning 927,662      
Weighted-Average Grant Date Fair Value Non-vested shares balance beginning $ 103.61      
Granted 415,001      
Weighted Average Grant Date Fair Value, Granted $ 117.91      
Vested (463,056)      
Weighted Average Grant Date Fair Value, Vested $ 77.18      
Forfeited (59,387)      
Weighted Average Grant Date Fair Value, Forfeited $ 114.78      
Non-vested shares balance ending 820,220 927,662    
Weighted-Average Grant Date Fair Value Non-vested shares balance ending $ 124.95 $ 103.61    
Total fair value of shares vested $ 50.9 $ 47.3 $ 37.3  
Total unrecognized compensation cost related to non-vested shares and stock options $ 33.9      
Weighted-average period 2 years 2 months 12 days