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Summary of Non-Qualified Stock Options (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Stock Appreciation Rights (SARs) [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 818,284   818,284   1,248,115
Granted (in shares)     0    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Exercised     (428,500)    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Forfeitures     (1,331)    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number 777,479   777,479    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price $ 59.55   $ 59.55   $ 62.02
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price     0    
Weighted Average Exercise Price, Exercises in Period (in dollars per share)     66.70    
Weighted Average Exercise Price, Forfeitures in Period (in dollars per share)     74.57    
Weighted Average Exercise Price, Exercisable (in dollars per share) $ 58.64   $ 58.64    
Weighted Average Remaining Contractual Term, Outstanding (in years)     5 years 3 months 18 days    
Aggregate Intrinsic Value, Outstanding $ 69.0   $ 69.0    
Weighted Average Remaining Contractual Term, Exercisable (in years)     5 years 2 months 12 days    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value $ 66.2   $ 66.2    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value     $ 40.2    
Share-based Payment Arrangement, Option          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 163,082   163,082   87,347
Granted (in shares) 1,593 3,249 78,729 92,799  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Exercised     (1,279)    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Forfeitures     (1,715)    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number 28,411   28,411    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price $ 144.51   $ 144.51   $ 121.55
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price     169.72    
Weighted Average Exercise Price, Exercises in Period (in dollars per share)     122.09    
Weighted Average Exercise Price, Forfeitures in Period (in dollars per share)     148.67    
Weighted Average Exercise Price, Exercisable (in dollars per share) $ 121.53   $ 121.53    
Weighted Average Remaining Contractual Term, Outstanding (in years)     8 years 10 months 24 days    
Aggregate Intrinsic Value, Outstanding $ 2.0   $ 2.0    
Weighted Average Remaining Contractual Term, Exercisable (in years)     8 years 4 months 24 days    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value $ 0.6   $ 0.6