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Debt - Summary of Debt (Parenthetical) (Details) - USD ($) $ in Millions |  |  |  |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 21, 2021 | Nov. 21, 2019 | Dec. 13, 2017 | Sep. 05, 2014 | Oct. 22, 2013 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2022 | Oct. 31, 2021 | Oct. 08, 2021
Revolving Credit Facility, due August 2021 | Line of Credit |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Credit facility, expiration date |  |  |  |  |  |  |  | Aug. 21, 2021 |  |  |
3.65% Senior Notes, due September 2024 |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  |  |  |  |  |  |  |  | 4.50% |
3.65% Senior Notes, due September 2024 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate | 4.50% |  |  |  |  | 3.65% |  |  | 3.65% |  | 4.50%
Senior notes, discount |  |  |  |  |  | $ 0.4 |  |  | $ 0.2 |  | $ 0.5
Debt instrument, maturity date | Nov. 01, 2023 |  |  |  | Nov. 01, 2023 | Nov. 01, 2023 | Nov. 01, 2023 |  |  |  |
3.40% Senior Notes, due December 2027 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  |  | 3.65% |  | 3.40% |  |  | 3.40% |  |
Senior notes, discount |  |  |  |  |  | $ 1.0 |  |  | $ 0.9 |  |
Debt instrument, maturity date |  |  |  | Sep. 15, 2024 |  | Sep. 15, 2024 | Sep. 15, 2024 |  |  |  |
3.00% Senior Notes, due December 2029 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  | 3.00% | 3.40% |  |  | 3.00% |  |  | 3.00% |  |
Senior notes, discount |  |  |  |  |  | $ 0.5 |  |  | $ 0.5 |  |
Debt instrument, maturity date |  | Dec. 15, 2029 | Dec. 15, 2027 |  |  | Dec. 15, 2027 | Dec. 15, 2027 |  |  |  |
4.05% Senior Notes, due December 2049 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  |  |  |  | 4.05% |  |  | 4.05% |  |
Senior notes, discount |  |  |  |  |  | $ 3.4 |  |  | $ 3.3 |  |
Debt instrument, maturity date |  |  |  |  |  | Dec. 15, 2029 | Dec. 15, 2029 |  |  |  |
4.05% Senior Notes, due December 2049 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  | 4.05% |  |  |  |  |  |  |  |  |
Debt instrument, maturity date |  | Dec. 15, 2049 |  |  |  | Dec. 15, 2049 | Dec. 15, 2049 |  |  |  |
3.05% Senior Notes, due October 2051 | Senior Notes |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate | 3.05% |  |  |  |  | 3.05% |  |  | 3.05% |  |
Senior notes, discount |  |  |  |  |  | $ 3.7 |  |  | $ 3.6 |  |
Debt instrument, maturity date | Dec. 31, 2051 |  |  |  |  |  |  |  |  |  |

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