Stock-based Compensation Expense Weighted-Average Assumptions used to Estimate Fair Value of Each Option Granted (Details) - $ / shares |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Employee Stock Option | |||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Dividend yield | 1.32% | 1.43% | 1.69% |
| Volatility | 36.21% | 36.19% | 32.65% |
| Average expected life (years) | 6 years | 6 years | 6 years |
| Risk-free interest rate | 1.97% | 1.44% | 1.13% |
| Fair value of options granted (in dollars per share) | $ 63.00 | $ 49.42 | $ 22.14 |
| Performance Unit Awards | |||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Volatility | 51.51% | 47.13% | 33.66% |
| Risk-free interest rate | 1.72% | 0.27% | 0.85% |