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Stock Incentive Plans - Stock Option and SAR Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Cash received from stock options exercised (including ESPP) | $ 210,000 | $ 242,000 | $ 329,000
Payments for taxes for net share settlement of equity awards | $ 112,000 | 97,000 | 71,000
Stock options granted prior to 2019 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period | 7 years |  |
Stock options granted in 2019 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period | 10 years |  |
Stock Appreciation Rights (SARs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period | 10 years |  |
Employee Stock Options and Stock Appreciation Rights |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Cash received from stock options exercised (including ESPP) | $ 210,000 | 242,000 | 329,000
Payments for taxes for net share settlement of equity awards | 112,000 | 97,000 | 71,000
Intrinsic value of stock options and SARs exercised | 30,000 | 79,000 | 176,000
Fair value of stock options and SARs vested | $ 467,000 | $ 324,000 | $ 341,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Shares, Outstanding at beginning of year (in shares) | 22,909 |  |
Shares granted (in shares) | 6,538 |  |
Shares exercised (in shares) | (3,667) |  |
Shares forfeited (in shares) | (769) |  |
Shares expired (in shares) | (1,109) |  |
Shares, Outstanding at end of year (in shares) | 23,902 | 22,909 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Weighted average exercise price, outstanding at beginning of year ($ per share) | $ 71.15 |  |
Weighted average exercise price, granted ($ per share) | 54.40 |  |
Weighted average exercise price, exercised ($ per share) | 46.17 |  |
Weighted average exercise price, forfeited ($ per share) | 68.12 |  |
Weighted average exercise price, expired ($ per share) | 82.40 |  |
Weighted average exercise price, outstanding at end of year ($ per share) | $ 69.98 | $ 71.15 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted average contractual term, outstanding at end of year | 4 years 9 months 3 days |  |
Aggregate Intrinsic value outstanding at end of year | $ 274,987 |  |
Shares exercisable at end of year (in shares) | 13,267 |  |
Weighted average exercise price exercisable at end of year ($ per share) | $ 77.48 |  |
Weighted average remaining contractual term exercisable at end of year | 2 years 8 months 23 days |  |
Aggregate intrinsic value exercisable at end of year | $ 109,765 |  |
Shares vested at end of year and expected to vest in the future (in shares) | 23,328 |  |
Weighted average exercise price vested at end of year and expected to vest in the future ($ per share) | $ 70.28 |  |
Weighted average remaining contractual term vested at end of year and expected to vest in the future | 4 years 8 months 1 day |  |
Aggregate intrinsic value vested at end of year and expected to vest in the future | $ 265,128 |  |

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