Annual report pursuant to Section 13 and 15(d)

STOCK-BASED COMPENSATION - Fair Value of Employee Stock Options Granted as Determined by Black-Scholes Valuation Model Assumptions (Details)

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STOCK-BASED COMPENSATION - Fair Value of Employee Stock Options Granted as Determined by Black-Scholes Valuation Model Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Long Term Incentive Performance Award      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 3.89% 2.35% 0.19%
Expected volatility 30.23% 31.92% 30.70%
Weighted-average fair value granted (in dollars per share) $ 198.78 $ 227.00 $ 168.05
Share payout 107.72% 107.37% 102.39%
Nonqualified Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected dividend yield 3.54% 2.35% 3.31%
Risk-free interest rate 3.70% 2.39% 0.84%
Expected life in years 5 years 11 months 4 days 7 years 6 months 7 years 6 months
Expected volatility 28.31% 25.04% 23.15%
Weighted-average fair value granted (in dollars per share) $ 41.08 $ 48.45 $ 23.71