Annual report pursuant to Section 13 and 15(d)

Stock Incentive Plan - Weighted Average Assumptions (Details)

v3.24.0.1
Stock Incentive Plan - Weighted Average Assumptions (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average grant-date fair value (in dollars per share) $ 39.75 $ 28.91 $ 18.36
Employee Stock Option      
Weighted average assumptions under the Monte Carlo simulation model:      
Expected dividend yield 0.80% 0.90% 1.10%
Expected stock price volatility 32.50% 28.70% 28.90%
Risk-free interest rate 3.80% 1.90% 0.60%
Expected life of awards (years) 5 years 7 months 6 days 5 years 7 months 6 days 5 years 9 months 18 days
Performance Shares      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average grant-date fair value (in dollars per share) $ 120.27 $ 127.29 $ 87.33
Weighted average assumptions under the Monte Carlo simulation model:      
Expected stock price volatility 37.80% 35.50% 34.50%
Risk-free interest rate 4.20% 1.60% 0.20%