Stock Options - Schedule of Qualified Stock Options Outstanding and Exercisable (Details) - Qualified Stock Options - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding (in shares)	84,647	87,610	100,920	119,720
Options exercisable (in shares)	43,412	49,360	67,700
$42.70 - $83.99
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	$ 42.7
Range of exercise price, upper range limit (in dollars per share)	$ 83.99
Options outstanding, exercise price range (in shares)	27,725
Options outstanding, remaining contractual life	2 years 3 months 25 days
Options outstanding, exercise price (in dollars per share)	$ 57.89
Options exercisable, exercise price range (in shares)	27,725
Options exercisable, exercise price (in dollars per share)	$ 57.89
$92.50 - $138.75
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	92.5
Range of exercise price, upper range limit (in dollars per share)	$ 138.75
Options outstanding, exercise price range (in shares)	40,422
Options outstanding, remaining contractual life	7 years 6 months 25 days
Options outstanding, exercise price (in dollars per share)	$ 119.34
Options exercisable, exercise price range (in shares)	12,387
Options exercisable, exercise price (in dollars per share)	$ 103.89
$156.38 - $234.57
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, lower range limit (in dollars per share)	156.38
Range of exercise price, upper range limit (in dollars per share)	$ 234.57
Options outstanding, exercise price range (in shares)	16,500
Options outstanding, remaining contractual life	8 years 1 month 28 days
Options outstanding, exercise price (in dollars per share)	$ 156.38
Options exercisable, exercise price range (in shares)	3,300
Options exercisable, exercise price (in dollars per share)	$ 156.38