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Share-Based Compensation Plans - Summary of Activity Related to Restricted Stock Granted under Company's Incentive Plan (Details) - Restricted Stock - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Total Shares      
Total Shares, Outstanding, Beginning Balance 419 422 460
Total Shares, Granted 184 167 152
Total Shares, Vested (144) (155) (174)
Total Shares, Forfeited, canceled or expired (32) (15) (16)
Total Shares, Outstanding, Ending Balance 427 419 422
Weighted Average Grant Date      
Weighted Average Grant Date Fair Value, Beginning Balance $ 83.43 $ 76.43 $ 63.28
Weighted Average Grant Date Fair Value, Granted 86.05 84.31 93.62
Weighted Average Grant Date Fair Value, Vested 74.90 65.19 56.14
Weighted Average Grant Date Fair Value, Forfeited, canceled or expired 87.00 84.64 82.11
Weighted Average Grant Date Fair Value, Ending Balance $ 86.24 $ 83.43 $ 76.43