Equity Incentive Plan - Restricted share activity (Details) - Restricted Shares - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares Outstanding, at beginning of the period	183	175	175
Shares Outstanding, granted	82	81	87
Shares Outstanding, vested	(56)	(63)	(64)
Shares Outstanding, forfeited	(15)	(10)	(23)
Shares Outstanding, at end of the period	194	183	175
Weighted Average Grant Date Fair Value, at beginning of the period (in dollars per share)	$ 65.46	$ 64.90	$ 60.53
Weighted Average Grant Date Fair Value, granted (in dollars per share)	73.15	63.10	65.23
Weighted Average Grant Date Fair Value, vested (in dollars per share)	63.95	60.84	53.82
Weighted Average Grant Date Fair Value, forfeited (in dollars per share)	69.12	65.12	63.88
Weighted Average Grant Date Fair Value, at end of the period (in dollars per share)	$ 68.85	$ 65.46	$ 64.90