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Stock-Based Compensation - Narrative (Details) - USD ($) shares in Thousands, $ in Millions |  | 12 Months Ended
--- | --- | ---
Jul. 01, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Purchase price of common stock, percent of market value, not less than (as a percent) |  | 100.00% |  |
Stock based compensation expense |  | $ 117.8 | $ 123.0 | $ 108.3
Nonvested options granted, unrecognized compensation expense |  | $ 51.7 |  |
Nonvested options granted, period for recognition (in years) |  | 1 year 10 months 2 days |  |
Options exercised, total intrinsic value |  | $ 92.7 | 138.2 | 155.4
Proceeds from stock options exercised |  | $ 110.0 | $ 104.7 | $ 105.5
Nonvested shares granted (in shares) |  | 271 | 228 |
Nonvested awards other than options granted, unrecognized compensation expense |  | $ 89.4 |  |
Nonvested awards other than options granted, weighted average period for recognition (in years) |  | 1 year 8 months 12 days |  |
Stock issued during period under employee stock purchase plan (in shares) |  | 39 | 40 | 31
Proceeds from issuance of shares under employee stock purchase plan |  | $ 14.3 | $ 15.1 | $ 10.5
ESPP |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum designated percent of eligible earnings per employee (as a percent) | 10.00% |  |  |
Discount percent (as a percent) | 10.00% |  |  |
Stock options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Expiration period (in years) |  | 10 years |  |
Stock based compensation expense |  | $ 38.1 | 40.4 | 34.9
Stock options | Weighted Average |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  | 3 years |  |
Restricted stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock based compensation expense |  | $ 77.6 | $ 82.7 | $ 72.6
Restricted stock | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  | 1 year |  |
Restricted stock | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  | 4 years |  |
Incentive Plan 2016 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant (in shares) |  | 8,387 |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for equity-based awards excluding options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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