Shareholders' Equity - Summary of Cash Dividends Declared per Share (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Cash dividends declared per share	$ 2.08	$ 2.00	$ 1.86

Aggregate dividends declared during the period for each share of common stock outstanding.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 505
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.3-04)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1

Name:	us-gaap_CommonStockDividendsPerShareDeclared
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:perShareItemType
Balance Type:	na
Period Type:	duration