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Stock Compensation Plans - Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock Compensation Plans        
Number Outstanding 1,064,917      
Weighted Average Remaining Contractual Term 7 years 1 month 17 days 7 years 18 days    
Weighted Average Exercise Price $ 53.671 $ 50.528 $ 48.079 $ 49.139
Options Outstanding        
Stock Compensation Plans        
Number Outstanding 1,064,917      
Weighted Average Remaining Contractual Term 7 years 1 month 17 days      
Weighted Average Exercise Price $ 53.671      
Options exercisable        
Stock Compensation Plans        
Number Exercisable 428,073      
Weighted Average Exercise Price $ 50.098      
Range of Exercise Prices | $23.860 to 29.640        
Stock Compensation Plans        
Exercise price range, minimum 23.860      
Exercise price range, maximum $ 29.640      
Range of Exercise Prices | $23.860 to 29.640 | Options Outstanding        
Stock Compensation Plans        
Number Outstanding 9,977      
Weighted Average Remaining Contractual Term 10 months 6 days      
Weighted Average Exercise Price $ 28.714      
Range of Exercise Prices | $23.860 to 29.640 | Options exercisable        
Stock Compensation Plans        
Number Exercisable 9,977      
Weighted Average Exercise Price $ 28.714      
Range of Exercise Prices | $32.590 to 38.610        
Stock Compensation Plans        
Exercise price range, minimum 32.590      
Exercise price range, maximum $ 38.610      
Range of Exercise Prices | $32.590 to 38.610 | Options Outstanding        
Stock Compensation Plans        
Number Outstanding 27,981      
Weighted Average Remaining Contractual Term 1 year 11 months 15 days      
Weighted Average Exercise Price $ 33.289      
Range of Exercise Prices | $32.590 to 38.610 | Options exercisable        
Stock Compensation Plans        
Number Exercisable 27,981      
Weighted Average Exercise Price $ 33.289      
Range of Exercise Prices | $41.300 to 41.740        
Stock Compensation Plans        
Exercise price range, minimum 41.300      
Exercise price range, maximum $ 41.740      
Range of Exercise Prices | $41.300 to 41.740 | Options Outstanding        
Stock Compensation Plans        
Number Outstanding 210,423      
Weighted Average Remaining Contractual Term 6 years 9 months 18 days      
Weighted Average Exercise Price $ 41.630      
Range of Exercise Prices | $41.300 to 41.740 | Options exercisable        
Stock Compensation Plans        
Number Exercisable 86,383      
Weighted Average Exercise Price $ 41.473      
Range of Exercise Prices | $50.710 to 59.750        
Stock Compensation Plans        
Exercise price range, minimum 50.710      
Exercise price range, maximum $ 59.750      
Range of Exercise Prices | $50.710 to 59.750 | Options Outstanding        
Stock Compensation Plans        
Number Outstanding 467,102      
Weighted Average Remaining Contractual Term 6 years 7 months 9 days      
Weighted Average Exercise Price $ 55.388      
Range of Exercise Prices | $50.710 to 59.750 | Options exercisable        
Stock Compensation Plans        
Number Exercisable 234,308      
Weighted Average Exercise Price $ 53.218      
Range of Exercise Prices | $60.150 to 62.010        
Stock Compensation Plans        
Exercise price range, minimum 60.150      
Exercise price range, maximum $ 62.010      
Range of Exercise Prices | $60.150 to 62.010 | Options Outstanding        
Stock Compensation Plans        
Number Outstanding 349,434      
Weighted Average Remaining Contractual Term 8 years 7 months 9 days      
Weighted Average Exercise Price $ 60.972      
Range of Exercise Prices | $60.150 to 62.010 | Options exercisable        
Stock Compensation Plans        
Number Exercisable 69,424      
Weighted Average Exercise Price $ 60.150