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Share-Based Compensation and Other Incentive Plans - Stock Options Outstanding and Exercisable (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Options Outstanding  
No. of options (in shares) | shares 2,771
Wtd. avg. contractual life 4 years
Options Exercisable  
No. of options (in shares) | shares 2,065
Wtd. avg. contractual life 3 years
$51-$70  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 51
Exercise price range, maximum (USD per share) $ 70
Options Outstanding  
No. of options (in shares) | shares 586
Wtd. avg. Exercise Price (USD per share) $ 66
Wtd. avg. contractual life 2 years
Options Exercisable  
No. of options (in shares) | shares 586
Wtd. avg. Exercise Price (USD per share) $ 66
Wtd. avg. contractual life 2 years
$71-$90  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 71
Exercise price range, maximum (USD per share) $ 90
Options Outstanding  
No. of options (in shares) | shares 786
Wtd. avg. Exercise Price (USD per share) $ 77
Wtd. avg. contractual life 4 years
Options Exercisable  
No. of options (in shares) | shares 786
Wtd. avg. Exercise Price (USD per share) $ 77
Wtd. avg. contractual life 4 years
$91-$110  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 91
Exercise price range, maximum (USD per share) $ 110
Options Outstanding  
No. of options (in shares) | shares 267
Wtd. avg. Exercise Price (USD per share) $ 108
Wtd. avg. contractual life 5 years
Options Exercisable  
No. of options (in shares) | shares 267
Wtd. avg. Exercise Price (USD per share) $ 108
Wtd. avg. contractual life 5 years
$111-$130  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 111
Exercise price range, maximum (USD per share) $ 130
Options Outstanding  
No. of options (in shares) | shares 51
Wtd. avg. Exercise Price (USD per share) $ 121
Wtd. avg. contractual life 6 years
Options Exercisable  
No. of options (in shares) | shares 40
Wtd. avg. Exercise Price (USD per share) $ 121
Wtd. avg. contractual life 6 years
$131-$150  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 131
Exercise price range, maximum (USD per share) $ 150
Options Outstanding  
No. of options (in shares) | shares 288
Wtd. avg. Exercise Price (USD per share) $ 139
Wtd. avg. contractual life 6 years
Options Exercisable  
No. of options (in shares) | shares 281
Wtd. avg. Exercise Price (USD per share) $ 139
Wtd. avg. contractual life 6 years
$151-$170  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 151
Exercise price range, maximum (USD per share) $ 170
Options Outstanding  
No. of options (in shares) | shares 206
Wtd. avg. Exercise Price (USD per share) $ 156
Wtd. avg. contractual life 7 years
Options Exercisable  
No. of options (in shares) | shares 56
Wtd. avg. Exercise Price (USD per share) $ 157
Wtd. avg. contractual life 7 years
$171-$190  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 171
Exercise price range, maximum (USD per share) $ 190
Options Outstanding  
No. of options (in shares) | shares 284
Wtd. avg. Exercise Price (USD per share) $ 180
Wtd. avg. contractual life 8 years
Options Exercisable  
No. of options (in shares) | shares 38
Wtd. avg. Exercise Price (USD per share) $ 180
Wtd. avg. contractual life 8 years
$191 and over  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 191
Options Outstanding  
No. of options (in shares) | shares 303
Wtd. avg. Exercise Price (USD per share) $ 225
Wtd. avg. contractual life 9 years
Options Exercisable  
No. of options (in shares) | shares 11
Wtd. avg. Exercise Price (USD per share) $ 223
Wtd. avg. contractual life 0 years