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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions |  |  | 12 Months Ended
--- | --- | --- | ---
May 02, 2021 | May 06, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Performance share and restricted stock awards |  |  |  |  |
Unrecognized compensation cost related to stock options |  |  | $ 74.7 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  |  | 2 years 6 months |  |
Stock option awards |  |  |  |  |
Number of Shares |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  |  | 1,270 |  |
Stock options granted (in shares) |  |  | 732 |  |
Options exercised (in shares) |  |  | (349) |  |
Options forfeited (in shares) |  |  | (67) |  |
Outstanding at the end of the period (in shares) |  |  | 1,586 | 1,270 |
Vested and exercisable at the end of the period (in shares) |  |  | 623 |  |
Intrinsic value of options exercised |  |  | $ 57.9 | $ 72.8 | $ 11.9
Weighted Average Price |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  |  | $ 129.32 |  |
Options granted (in dollars per share) |  |  | 268.68 |  |
Options exercised (in dollars per share) |  |  | 115.87 |  |
Options forfeited (in dollars per share) |  |  | 210.76 |  |
Outstanding at the end of the period (in dollars per share) |  |  | 193.17 | $ 129.32 |
Vested and exercisable at the end of the period (in dollars per share) |  |  | $ 126.47 |  |
Weighted average contractual term |  |  | 7 years 8 months 12 days |  |
The weighted average contractual term of options exercisable |  |  | 5 years 8 months 12 days |  |
Aggregate intrinsic value of options outstanding |  |  | $ 93.4 |  |
Aggregate intrinsic value of options vested and exercisable |  |  | $ 68.0 |  |
Performance share and restricted stock awards |  |  |  |  |
Vesting period of shares awarded under the Program |  |  | 3 years |  |
Unrecognized compensation cost related to stock options |  |  | $ 40.7 |  |
Restricted stock awards |  |  |  |  |
Performance share and restricted stock awards |  |  |  |  |
Vesting period of shares awarded under the Program |  |  | 3 years |  |
Unrecognized compensation cost related to stock options |  |  | $ 7.8 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  |  | 1 year 8 months 12 days |  |
Intrinsic value of shares vested during year ended December 31 |  |  | $ 15.7 | $ 11.8 | $ 9.6
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |  |
Outstanding at beginning of period (shares) |  |  | 155 |  |
Awards granted (in shares) |  |  | 42 |  |
Awards vested (in shares) |  |  | (62) |  |
Awards forfeited (in shares) |  |  | (10) |  |
Outstanding at end of period (shares) |  |  | 125 | 155 |
Outstanding at beginning of period (in dollars per share) |  |  | $ 141.32 |  |
Awards granted (in dollars per share) |  |  | 227.44 | $ 154.23 | $ 147.78
Awards vested (in dollars per share) |  |  | 128.96 |  |
Awards forfeited (in dollars per share) |  |  | 169.47 |  |
Outstanding at end of period (in dollars per share) |  |  | $ 174.34 | $ 141.32 |
Weighted average contractual term |  |  | 1 year |  |
Aggregate intrinsic value |  |  | $ 29.4 |  |
Performance share awards |  |  |  |  |
Performance share and restricted stock awards |  |  |  |  |
Vesting period of shares awarded under the Program |  |  | 3 years |  |
Unrecognized compensation cost related to stock options |  |  | $ 10.5 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  |  | 1 year 9 months 18 days |  |
Fair value of shares vested during year ended December 31 |  |  | $ 22.0 | $ 13.3 | $ 12.9
Measurement period |  |  | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |  |
Outstanding at beginning of period (shares) |  |  | 138 |  |
Awards granted (in shares) |  |  | 38 |  |
Awards vested (in shares) |  |  | (89) |  |
Awards converted (in shares) |  |  | 44 |  |
Awards forfeited (in shares) |  |  | (3) |  |
Outstanding at end of period (shares) |  |  | 128 | 138 |
Outstanding at beginning of period (in dollars per share) |  |  | $ 196.15 |  |
Awards granted (in dollars per share) |  |  | 313.77 | $ 213.13 | $ 222.50
Awards vested (in dollars per share) |  |  | 154.23 |  |
Awards converted (in dollars per share) |  |  | 154.23 |  |
Awards forfeited (in dollars per share) |  |  | 246.70 |  |
Outstanding at end of period (in dollars per share) |  |  | $ 244.25 | 196.15 |
Weighted average contractual term |  |  | 1 year |  |
Aggregate intrinsic value |  |  | $ 30.1 |  |
Restricted stock units |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |  |
Awards granted (in shares) |  |  |  |  | 8
Outstanding at beginning of period (in dollars per share) |  |  |  | $ 161.41 |
Outstanding at end of period (in dollars per share) |  |  |  |  | $ 161.41
Stock appreciation rights |  |  |  |  |
Performance share and restricted stock awards |  |  |  |  |
Stock appreciation rights settled for cash | $ 22.2 |  |  |  |
Eligible Directors | Restricted stock units |  |  |  |  |
Performance share and restricted stock awards |  |  |  |  |
Vesting period of shares awarded under the Program |  | 1 year |  |  |
Board member retirement age for vesting |  | 72 years |  |  |
Consecutive years of service on the board for vesting |  | 18 years |  |  |
Deferred Compensation Equity |  |  |  |  |
Number of Shares |  |  |  |  |
Number of common stock deferred (in shares) |  |  | 72 | 84 |
Performance share and restricted stock awards |  |  |  |  |
Number of common stock deferred (in shares) |  |  | 72 | 84 |

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