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Equity Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] | The following table presents a summary of options and SARs activity:
|  | Number of Options and SARs |  | Weighted-Average Exercise/Conversion Price |  | Aggregate Intrinsic Value (in millions)
Outstanding at December 31, 2022 |  | 2,221,287 |  |  | $ | 112.05 |  |  |
Granted |  | 129,146 |  |  | $ | 138.34 |  |  |
Exercised |  | (454,459) |  |  | $ | 91.40 |  |  |
Forfeited |  | (25,392) |  |  | $ | 125.56 |  |  |
Outstanding at December 31, 2023 |  | 1,870,582 |  |  | $ | 118.70 |  |  | $ | 80.6 |
Awards exercisable |  | 1,605,172 |  |  | $ | 118.18 |  |  | $ | 70.0 |
Share-based Payment Arrangement, Option, Exercise Price Range [Table Text Block] |
|  | Awards Outstanding |  | Awards Exercisable
Range of Exercise Prices |  | Number Outstanding as of 12/31/2023 |  | Weighted-Average Remaining Contractual Life (years) |  | Weighted- Average Exercise Price |  | Number Exercisable as of 12/31/2023 |  | Weighted-Average Exercise Price
$50.00 – $89.99 |  | 30,817 |  |  | 0.2 |  | $ | 78.48 |  |  | 30,817 |  |  | $ | 78.48 |
$90.00 – $99.99 |  | 415,528 |  |  | 1.8 |  | $ | 92.60 |  |  | 415,528 |  |  | $ | 92.60 |
$100.00 – $139.99 |  | 1,096,818 |  |  | 6.8 |  | $ | 121.03 |  |  | 831,408 |  |  | $ | 120.78 |
$140.00 + |  | 327,419 |  |  | 4.7 |  | $ | 147.80 |  |  | 327,419 |  |  | $ | 147.80 |
Totals |  | 1,870,582 |  |  | 5.2 |  | $ | 118.70 |  |  | 1,605,172 |  |  | $ | 118.18 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] | The following table presents the weighted-average assumptions used to determine the fair value of SARs granted:
For the years ended December 31, |  | 2023 |  | 2022 |  | 2021
Dividend yield |  | 2.31 | % |  | 2.74 | % |  | 2.17 | %
Risk-free rate of return |  | 4.15 | % |  | 2.41 | % |  | 1.04 | %
Expected volatility |  | 37.1 | % |  | 36.0 | % |  | 34.5 | %
Expected life (in years) |  | 6.3 |  | 6.3 |  | 6.3
Weighted-average exercise price of stock options granted |  | $ | 138.34 |  |  | $ | 106.53 |  |  | $ | 129.01 |
Weighted-average fair value of stock options granted |  | $ | 47.20 |  |  | $ | 30.55 |  |  | $ | 34.93 |
Share-based Payment Arrangement, Activity [Table Text Block] | The following table presents a summary of Performance Shares and Restricted Stock Units activity:
| Performance Shares |  | Restricted Stock Units |  |
Outstanding at December 31, 2022 | 244,980 |  |  | 566,435 |  |  |
Granted | 185,311 |  |  | 111,850 |  |  |
Change in units based on performance factor | (2,931) |  |  | — |  |  |
Paid | (59,453) |  |  | (241,969) |  |  |
Forfeited | (8,356) |  |  | (19,010) |  |  |
Outstanding at December 31, 2023 (1) | 359,551 |  |  | 417,306 |  |  |
(1)Amount outstanding at December 31, 2023, includes the amount of shares to be issued under RSUs expected to vest and number of Performance Shares to be issued at target performance. The amount of shares do not reflect potential increases or decreases that may result from the performance factor results except for the 2021 – 2023 grants which vested at December 31, 2023.

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