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Share-Based Compensation Plans - Stock Options, Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Options outstanding at January 1 (in shares) | shares 1,862
Granted (in shares) | shares 220
Exercised (in shares) | shares (7)
Forfeited or expired (in shares) | shares (85)
Options outstanding at December 31 (in shares) | shares 1,990
Vested and expected to vest at December 31 (in shares) | shares 1,896
Exercisable at December 31 (in shares) | shares 1,480
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Options outstanding at January 1 (in dollars per share) | $ / shares $ 72.28
Granted (in dollars per share) | $ / shares 59.09
Exercised (in dollars per share) | $ / shares 55.32
Forfeited or expired (in dollars per share) | $ / shares 71.45
Options outstanding at December 31 (in dollars per share) | $ / shares 70.92
Vested and expected to vest at December 31, Weighted-Average Exercise Price (in dollars per share) | $ / shares 70.71
Exercisable at December 31, Weighted-Average Exercise Price (in dollars per share) | $ / shares $ 71.53
Summary of stock option activity  
Outstanding, weighted average remaining contractual term 6 years 1 month 6 days
Vested and expected to vest at December 31 in years 5 years 2 months 12 days
Exercisable at December 31, in years 5 years 3 months 18 days
Options outstanding at December 31, Aggregate Intrinsic Value | $ $ 0
Vested and expected to vest at December 31, Aggregate Intrinsic Value | $ 0
Exercisable at December 31, Aggregate Intrinsic Value | $ $ 0