Equity Incentive Plans - Changes in performance stock awards (Details) - Performance stock awards - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock units activity
Outstanding at the beginning of the period (in shares)	974
Granted (in shares)	270
Adjustment for performance achievement (in shares)	336
Vested (in shares)	(694)
Forfeited (in shares)	(90)
Outstanding at the end of the period (in shares)	796	974
Weighted average grant date fair value
Weighted average grant date fair value, nonvested at the beginning of the period (in dollars per share)	$ 105.92
Weighted average grant date fair value, granted (in dollars per share)	123.08	$ 107.14	$ 123.48
Weighted average grant date fair value, adjustment for performance achievement (in dollars per share)	92.46
Weighted average grant date fair value, vested (in dollars per share)	93.04
Weighted average grant date fair value, forfeited (in dollars per share)	114.02
Weighted average grant date fair value, nonvested at the end of the period (in dollars per share)	$ 116.36	$ 105.92