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Stock-Based Compensation - Range of exercise prices (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Number of outstanding options 1,455    
Weighted-average exercise price of outstanding options $ 158.61    
Weighted-average remaining contractual life of options outstanding 6 years 10 months 24 days    
Number of options exercisable 729 800 900
Weighted-average exercise price of exercisable options $ 134.94 $ 117.08 $ 103.63
Range $61.62 to $128.93 [Member]      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Number of outstanding options 529    
Weighted-average exercise price of outstanding options $ 117.10    
Weighted-average remaining contractual life of options outstanding 5 years 1 month 6 days    
Number of options exercisable 430    
Weighted-average exercise price of exercisable options $ 114.85    
Range $128.94 to $192.62 [Member]      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Number of outstanding options 520    
Weighted-average exercise price of outstanding options $ 160.06    
Weighted-average remaining contractual life of options outstanding 7 years 8 months 12 days    
Number of options exercisable 208    
Weighted-average exercise price of exercisable options $ 149.37    
Range $192.63 to $238.53 [Member]      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Number of outstanding options 406    
Weighted-average exercise price of outstanding options $ 210.84    
Weighted-average remaining contractual life of options outstanding 8 years 2 months 12 days    
Number of options exercisable 91    
Weighted-average exercise price of exercisable options $ 196.83