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Stock-Based Compensation Plans - Stock Options and Performance Awards (Details) - $ / shares
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
2009 Plan shares    
Exercised (in shares) (4,304)  
Employee and Directors Stock Options | Stock Option and Incentive Plan 2009    
2009 Plan shares    
Options Outstanding at beginning of period (in shares) 299,149  
Granted (in shares) 9,793  
Exercised (in shares) (4,304)  
Forfeited (in shares) (2,444)  
Options Outstanding at end of period (in shares) 302,194  
Options Exerciseable (in shares) 7,058  
Weighted average exercise price per share    
Weighted average exercise price of options outstanding at beginning of period (in dollars per share) $ 178.71  
Weighted average exercise price of options granted (in dollars per share) 236.14  
Weighted average exercise price of options exercised (in dollars per share) 141.41  
Weighted average exercise price of options forfeited (in dollars per share) 180.32  
Weighted average exercise price of options outstanding at end of period (in dollars per share) 181.09  
Weighted average exercise price of options exercisable (in dollars per share) $ 135.62  
Performance Shares    
Performance awards    
Equity instruments outstanding at the beginning of the period (in shares) 284,522  
Equity instruments granted (in shares) 72,189  
Change in awards based on performance (in shares) (20,356)  
Converted to restricted stock (in shares) (54,053) (56,545)
Forfeited (in shares) (755)  
Equity instruments outstanding at the end of the period (in shares) 281,547  
Weighted average grant date fair value per award    
Equity instruments outstanding at the beginning of the period (in dollars per share) $ 214.73  
Grant date fair value per share (in dollars per share) 255.01  
Change in awards based on performance (in dollars per share) 200.92  
Converted to restricted stock (in dollars per share) 217.33  
Forfeited (in dollars per share) 223.60  
Equity instruments outstanding at the end of the period (in dollars per share) $ 225.54  
Grants in period based on total shareholder metrics (in shares) 39,645  
Grants in period based on financial metrics (in shares) 32,544