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Common Stock and Treasury Stock - Class of Treasury Stock (Details) - shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	3,207,170	1,241,141	1,538,224
Stock Options
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	1,756,471	854,524	1,379,704
Long-term Incentive Program Performance Share Awards (LTIPs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	668,240	0	0
Total Shareholder Return Awards (TSRs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	199,413	0	0
Restricted Stock Units (RSUs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	431,504	259,634	10,000
Employee Stock Purchase Plan (ESPP)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	151,542	126,983	148,520

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Number of treasury shares or units reissued. Excludes reissuance of shares or units in treasury for award under share-based payment arrangement.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02(29))
-URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section 50
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=109259400&loc=d3e21463-112644

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-Publisher FASB
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-Topic 505
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