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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
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Cash received from stock options exercised (including ESPP) | $ 551,000 | $ 549,000 | $ 264,000
Payments for taxes for net share settlement of equity awards | $ 370,000 | 168,000 | 88,000
Stock options granted through 2018 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period | 7 years |  |
Stock options granted subsequent to 2018 |  |  |
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) | $ 551,000 | 549,000 | 264,000
Payments for taxes for net share settlement of equity awards | 370,000 | 168,000 | 88,000
Intrinsic value of stock options and SARs exercised | 118,000 | 105,000 | 24,000
Fair value of stock options and SARs vested | $ 219,000 | $ 224,000 | $ 252,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Shares, Outstanding at beginning of year (in shares) | 19,061 |  |
Shares granted (in shares) | 1,993 |  |
Shares exercised (in shares) | (4,921) |  |
Shares forfeited (in shares) | (478) |  |
Shares expired (in shares) | (615) |  |
Shares, Outstanding at end of year (in shares) | 15,040 | 19,061 |
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) | $ 71.74 |  |
Weighted average exercise price, granted ($ per share) | 101.04 |  |
Weighted average exercise price, exercised ($ per share) | 75.91 |  |
Weighted average exercise price, forfeited ($ per share) | 70.78 |  |
Weighted average exercise price, expired ($ per share) | 99.78 |  |
Weighted average exercise price, outstanding at end of year ($ per share) | $ 73.15 | $ 71.74 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted average contractual term, outstanding at end of year | 4 years 6 months 7 days |  |
Aggregate Intrinsic value outstanding at end of year | $ 340,507 |  |
Shares exercisable at end of year (in shares) | 7,730 |  |
Weighted average exercise price exercisable at end of year ($ per share) | $ 72.39 |  |
Weighted average remaining contractual term exercisable at end of year | 2 years 9 months 3 days |  |
Aggregate intrinsic value exercisable at end of year | $ 184,904 |  |
Shares vested at end of year and expected to vest in the future (in shares) | 14,757 |  |
Weighted average exercise price vested at end of year and expected to vest in the future ($ per share) | $ 72.96 |  |
Weighted average remaining contractual term vested at end of year and expected to vest in the future | 4 years 5 months 19 days |  |
Aggregate intrinsic value vested at end of year and expected to vest in the future | $ 336,664 |  |

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