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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, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Cash received from stock options exercised (including ESPP) | $ 264,000 | $ 210,000 | $ 242,000
Payments for taxes for net share settlement of equity awards | $ 88,000 | 112,000 | 97,000
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) | $ 264,000 | 210,000 | 242,000
Payments for taxes for net share settlement of equity awards | 88,000 | 112,000 | 97,000
Intrinsic value of stock options and SARs exercised | 24,000 | 30,000 | 79,000
Fair value of stock options and SARs vested | $ 252,000 | $ 467,000 | $ 324,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Shares, Outstanding at beginning of year (in shares) | 23,902 |  |
Shares granted (in shares) | 4,759 |  |
Shares exercised (in shares) | (2,601) |  |
Shares forfeited (in shares) | (1,164) |  |
Shares expired (in shares) | (941) |  |
Shares, Outstanding at end of year (in shares) | 23,955 | 23,902 |
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) | $ 69.98 |  |
Weighted average exercise price, granted ($ per share) | 58.50 |  |
Weighted average exercise price, exercised ($ per share) | 52.95 |  |
Weighted average exercise price, forfeited ($ per share) | 57.61 |  |
Weighted average exercise price, expired ($ per share) | 83.34 |  |
Weighted average exercise price, outstanding at end of year ($ per share) | $ 69.62 | $ 69.98 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted average contractual term, outstanding at end of year | 4 years 10 months 9 days |  |
Aggregate Intrinsic value outstanding at end of year | $ 185,487 |  |
Shares exercisable at end of year (in shares) | 13,545 |  |
Weighted average exercise price exercisable at end of year ($ per share) | $ 78.05 |  |
Weighted average remaining contractual term exercisable at end of year | 2 years 9 months 14 days |  |
Aggregate intrinsic value exercisable at end of year | $ 78,289 |  |
Shares vested at end of year and expected to vest in the future (in shares) | 23,448 |  |
Weighted average exercise price vested at end of year and expected to vest in the future ($ per share) | $ 69.87 |  |
Weighted average remaining contractual term vested at end of year and expected to vest in the future | 4 years 9 months 10 days |  |
Aggregate intrinsic value vested at end of year and expected to vest in the future | $ 180,102 |  |

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