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Equity and Cash Incentive Program (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock-based compensation expense [Abstract] |  |  |
Pre-tax compensation expense | $ 25,026 | $ 29,702 | $ 23,698
Tax benefit | (2,731) | (2,490) | (2,722)
Total stock-based compensation expense, net of tax | $ 22,295 | $ 27,212 | $ 20,976
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Shares available for grant | 17,000,000 |  |
Vesting period (in years) | 3 years |  |
Award term | 10 years |  |
Shares Granted to Directors [Abstract] |  |  |
Share Based Goods and Nonemployee Services Transaction Aggregate Shares Granted | 9,854 | 10,838 | 15,802
Shares deferred | (6,278) | (6,168) | (9,917)
Net shares granted | 3,576 | 4,670 | 5,885
Stock Appreciation Rights (SARs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Additional awards issued due to modification |  |  | 1,138,008
Risk-free interest rate (in hundredths) | 1.44% | 2.51% |
Dividend yield (in hundredths) | 1.65% | 2.13% |
Expected life (in years) | 5 years 6 months | 5 years 7 months 6 days |
Volatility (in hundredths) | 22.76% | 22.35% |
Grant price | $ 119.86 | $ 91.20 |
Fair value on date of grant | $ 22.54 | $ 17.55 |
Awards Outstanding [Roll Forward] |  |  |
Awards Outstanding (in number of shares) | 2,979,933 | 3,599,169 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 390,780 | 615,089 | 757,603
Awards Forfeit and Expired (in number of shares) | (17,103) |  |
Awards Exercised (in number of shares) | (992,913) |  |
Awards Exercisable (in number of shares) | 1,385,683 |  |
Awards Outstanding, Weighted Average Exercise Price [Roll Forward] |  |  |
Awards Outstanding, Weighted Average Exercise Price | $ 79.36 | $ 69.07 |
Grant price | 119.86 | $ 91.20 |
Awards Forfeit and Expired, Weighted Average Exercise Price | 91.98 |  |
Awards Exercised, Weighted Average Exercise Price | 57.49 |  |
Awards Exercisable, Weighted Average Exercise Price | $ 62.59 |  |
Additional Disclosures [Abstract] |  |  |
Awards Outstanding, Weighted Average Remaining Contractual Term | 6 years 4 months 24 days |  |
Awards Exercisable, Weighted Average Remaining Contractual Term | 4 years 7 months 6 days |  |
Fair value of stock appreciation rights which became exerciable during the year | $ 8,585 | $ 8,611 | $ 12,832
Awards Exercised, Total Intrinsic Value | $ 55,031 | $ 89,473 | $ 101,365
Unvested Awards [Roll Forward] |  |  |
Awards Granted (in number of shares) | 390,780 | 615,089 | 757,603
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant | $ 22.54 | $ 17.55 |
Unrecognized Compensation Cost [Abstract] |  |  |
Unrecognized Compensation Expense | $ 8,746 |  |
Unrecognized Compensation Expense, Period for Recognition | 1 year 7 months 6 days |  |
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant | $ 22.54 | $ 17.55 |
Performance Shares [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Additional awards issued due to modification |  |  | 26,316
Risk-free interest rate (in hundredths) | 1.40% |  |
Dividend yield (in hundredths) | 1.65% |  |
Expected life (in years) | 2 years 10 months 24 days |  |
Volatility (in hundredths) | 23.30% |  |
Grant price | $ 119.86 |  |
Fair value on date of grant | $ 165.71 |  |
Awards Outstanding [Roll Forward] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 49,056 | 35,172 | 122,459
Awards Outstanding, Weighted Average Exercise Price [Roll Forward] |  |  |
Grant price | $ 119.86 |  |
Unvested Awards [Roll Forward] |  |  |
Awards Unvested (in number of shares) | 77,979 | 137,809 |
Awards Granted (in number of shares) | 49,056 | 35,172 | 122,459
Awards Vested (in number of shares) | (108,886) |  |
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Awards Unvested, Weighted Average Grant Date Fair Value | $ 138.14 | $ 82.45 |
Fair value on date of grant | 165.71 |  |
Awards Vested, Weighted Average Grant Date Fair Value | $ 80.08 |  |
Unrecognized Compensation Cost [Abstract] |  |  |
Unrecognized Compensation Expense | $ 7,402 |  |
Unrecognized Compensation Expense, Period for Recognition | 1 year 9 months 18 days |  |
Shares Granted to Directors [Abstract] |  |  |
Performance Share Attainment |  | 191.20% | 186.10%
Fair value on date of grant | $ 165.71 |  |
Restricted Stock Units (RSUs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Additional awards issued due to modification |  |  | 47,063
Fair value on date of grant | $ 119.86 | $ 91.20 |
Awards Outstanding [Roll Forward] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 83,512 | 124,929 | 284,721
Unvested Awards [Roll Forward] |  |  |
Awards Unvested (in number of shares) | 252,907 | 324,553 |
Awards Granted (in number of shares) | 83,512 | 124,929 | 284,721
Forfeited awards (in number of shares) | 11,140 |  |
Awards Vested (in number of shares) | (144,018) |  |
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Awards Unvested, Weighted Average Grant Date Fair Value | $ 93.43 | $ 81.45 |
Fair value on date of grant | 119.86 | 91.20 |
Awards Forfeit, Weighted Average Grant Date Fair Value | 96.26 |  |
Awards Vested, Weighted Average Grant Date Fair Value | $ 81.16 |  |
Unrecognized Compensation Cost [Abstract] |  |  |
Unrecognized Compensation Expense | $ 14,943 |  |
Unrecognized Compensation Expense, Period for Recognition | 1 year 3 months 18 days |  |
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant | $ 119.86 | 91.20 |
Minimum [Member] | Stock Appreciation Rights (SARs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Risk-free interest rate (in hundredths) |  |  | 2.58%
Dividend yield (in hundredths) |  |  | 1.99%
Expected life (in years) |  |  | 5 years 7 months 6 days
Volatility (in hundredths) |  |  | 20.95%
Grant price |  |  | $ 79.75
Fair value on date of grant |  |  | 14.58
Awards Outstanding, Weighted Average Exercise Price [Roll Forward] |  |  |
Grant price |  |  | 79.75
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  |  | 14.58
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  |  | 14.58
Minimum [Member] | Performance Shares [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Fair value on date of grant |  |  | 79.75
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  |  | 79.75
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  |  | 79.75
Minimum [Member] | Restricted Stock Units (RSUs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Fair value on date of grant |  |  | 79.75
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  |  | 79.75
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  |  | $ 79.75
Maximum [Member] | Stock Appreciation Rights (SARs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Risk-free interest rate (in hundredths) |  |  | 2.87%
Dividend yield (in hundredths) |  |  | 2.43%
Expected life (in years) |  |  | 5 years 8 months 12 days
Volatility (in hundredths) |  |  | 21.20%
Grant price |  |  | $ 82.09
Fair value on date of grant |  |  | 15.41
Awards Outstanding, Weighted Average Exercise Price [Roll Forward] |  |  |
Grant price |  |  | 82.09
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  |  | 15.41
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  |  | 15.41
Maximum [Member] | Performance Shares [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Fair value on date of grant |  | 91.20 | 82.09
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  | 91.20 | 82.09
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  | $ 91.20 | 82.09
Maximum [Member] | Restricted Stock Units (RSUs) [Member] |  |  |
Awards Granted, Fair Value Assumptions and Methodology [Abstract] |  |  |
Fair value on date of grant |  |  | 82.09
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Fair value on date of grant |  |  | 82.09
Shares Granted to Directors [Abstract] |  |  |
Fair value on date of grant |  |  | $ 82.09
Discontinued Operations [Member] |  |  |
Stock-based compensation expense [Abstract] |  |  |
Pre-tax compensation expense |  |  | $ 744

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + 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 (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + 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 (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + 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 (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + 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 (d)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + 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 (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + 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 (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + 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 (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Other than shares newly issued, the number of additional shares issued (for example, a stock split) or canceled (for example, to correct a share issuance), during the period under the plan. + 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 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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