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Stock-Based Compensation Plans - Performance Share Awards and Restricted Stock Units (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Performance Share Awards |  |  |
Stock-Based Compensation Plans - Disclosures |  |  |
Performance period for goals | 3 years |  |
Change in nonvested units outstanding |  |  |
Awards or units granted (in shares) | 0.3 | 0.3 | 0.2
Awards or units granted, Weighted-average grant-date fair value (in dollars per share) | $ 91.47 | $ 66.62 | $ 58.68
Awards or units vested (in shares) | 0.2 |  |
Awards or units canceled (in shares) | 0.1 |  |
Awards or units outstanding at end of period (in shares) | 0.8 | 0.8 |
Awards or units outstanding at beginning of period (in shares) | 0.8 |  |
Awards or units vested, Weighted-average grant-date fair value (in dollars per share) | $ 52.65 |  |
Awards or units canceled, Weighted-average grant-date fair value (in dollars per share) | 65.92 |  |
Awards or units outstanding at end of period, Weighted-average grant-date fair value (in dollars per share) | 71.66 | $ 59.19 |
Awards or units outstanding at beginning of period, Weighted-average grant-date fair value (in dollars per share) | $ 59.19 |  |
Other award and unit disclosures |  |  |
Intrinsic value from awards or units vested | $ 11.0 | $ 11.6 | $ 4.7
Lower limit multiple of initial target awards (as a percent) | 0.00% | 0.00% |
Upper limit multiple of initial target awards (as a percent) | 180.00% | 150.00% |
Unrecognized compensation costs | $ 15.9 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 1 year 8 months 12 days |  |
Tax benefits realized for the tax deductions from awards or units paid out | $ 7.7 | $ 6.4 | $ 1.8
Restricted Stock Units |  |  |
Change in nonvested units outstanding |  |  |
Awards or units granted (in shares) | 0.9 | 1.3 | 1.1
Awards or units granted, Weighted-average grant-date fair value (in dollars per share) | $ 87.71 | $ 70.29 | $ 59.17
Awards or units vested (in shares) | 1.0 |  |
Awards or units canceled (in shares) | 0.1 |  |
Awards or units outstanding at end of period (in shares) | 3.0 | 3.2 |
Awards or units outstanding at beginning of period (in shares) | 3.2 |  |
Awards or units vested, Weighted-average grant-date fair value (in dollars per share) | $ 51.70 |  |
Awards or units canceled, Weighted-average grant-date fair value (in dollars per share) | 73.13 |  |
Awards or units outstanding at end of period, Weighted-average grant-date fair value (in dollars per share) | 71.83 | $ 60.69 |
Awards or units outstanding at beginning of period, Weighted-average grant-date fair value (in dollars per share) | $ 60.69 |  |
Other award and unit disclosures |  |  |
Intrinsic value from awards or units vested | $ 102.8 | $ 81.1 | $ 51.7
Unrecognized compensation costs | $ 68.5 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 1 year 6 months |  |
Tax benefits realized for the tax deductions from awards or units paid out | $ 35.9 | $ 27.0 | $ 17.8
2014 Stock Incentive Plan, Amended and Restated 2010 Stock Incentive Plan and Stock Incentive Plan | Restricted Stock Units |  |  |
Other award and unit disclosures |  |  |
Vesting period | 3 years |  |
2021 Stock Incentive Plan, 2020 Directors Stock Plan, 2014 Directors Stock Plan and 2005 Directors Stock Plan | Restricted Stock Units |  |  |
Other award and unit disclosures |  |  |
Vesting period | 1 year |  |

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