v3.24.0.1
Share-Based Compensation - Restricted Share Units and Stock Option Fair Value (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]      
Stock option fair value (in dollars per share) $ 8.41 $ 8.77 $ 9.72
Stock Option Valuation Assumptions:      
Dividend yield 3.20% 2.40% 1.80%
Expected volatility 26.20% 25.00% 22.80%
Risk-free interest rate 4.20% 1.80% 0.90%
Expected option life 5 years 10 months 24 days 5 years 9 months 18 days 5 years 10 months 24 days
Restricted Stock Units (RSUs)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
RSUs fair value (in dollars per share) $ 37.14 $ 45.20 $ 54.52