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Stockholders' Equity (Details) - $ / shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013 | May. 31, 2015
Stockholders' equity |  |  |  |
Common stock, shares authorized (in shares) | 153,000,000 | 153,000,000 |  |
Share repurchase activity |  |  |  |
Shares repurchased (in shares) | 1,700,000 | 1,200,000 | 100,000 |
Average price (in usd per share) | $ 209.39 | $ 204.72 | $ 184.89 |
Preferred Stock |  |  |  |
Stockholders' equity |  |  |  |
Preferred stock, shares authorized (in shares) | 5,000,000.0 |  |  |
Common Stock |  |  |  |
Share repurchase activity |  |  |  |
Shares repurchased (in shares) | 1,700,000 | 1,200,000 | 100,000 |
Average price (in usd per share) | $ 209.39 | $ 204.72 | $ 184.89 |
Voting Common Stock |  |  |  |
Stockholders' equity |  |  |  |
Common stock, shares authorized (in shares) | 150,000,000 |  |  |
Share repurchase activity |  |  |  |
Stock repurchase program, authorized amount (in shares) |  |  |  | 3,000,000
Stock repurchase program, remaining shares authorized for repurchase (in shares) | 2,300,000 |  |  |
Class B Non-Voting Common Stock |  |  |  |
Stockholders' equity |  |  |  |
Common stock, shares authorized (in shares) | 3,000,000.0 |  |  |

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