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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