Equity Incentive Plans - Schedule of Option Grant Assumptions (Details) - Stock Options	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Assumptions used to determine fair value of options granted
Weighted average expected term	5 years 9 months 18 days	5 years 10 months 24 days	7 years 6 months
Expected volatility, low end of the range (as a percent)	20.00%	19.80%	16.50%
Expected volatility, high end of the range (as a percent)	31.60%	29.90%	28.80%
Weighted average volatility (as a percent)	24.90%	23.20%	23.00%
Expected dividends, minimum range (as a percent)	2.40%	2.50%	2.00%
Expected dividends, maximum range (as a percent)	3.30%	3.00%	3.00%
Weighted average expected dividends (as a percent)	2.60%	2.80%	3.10%
Risk-free rate, low end of the range (as a percent)	3.30%	0.00%	0.00%
Risk-free rate, high end of the range (as a percent)	5.60%	4.80%	1.70%