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Stock Plans (Details Textual) | 12 Months Ended
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Dec. 31, 2022 USD ($) d $ / shares shares | Dec. 31, 2021 USD ($) d $ / shares shares | Dec. 31, 2020 USD ($) d $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | shares | 4,900,000 |  |  |
Allocated Share-based Compensation Expense | $ 44,100,000 |  | $ 36,500,000 | $ 22,000,000
Employee Service Share-based Compensation, Tax Benefit from Compensation Expense | $ 3,400,000 |  | $ 4,100,000 | $ 2,100,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Percentage of Outstanding Stock Maximum | 10.00% |  | 1000.00% | 15.00%
Debt Instrument, Convertible, Threshold Consecutive Trading Days | d | 30 |  | 30 | 30
Proceeds from Stock Options Exercised | $ 5,900,000 |  | $ 7,800,000 | $ 15,800,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Total Intrinsic Value | $ 12,800,000 |  | $ 27,700,000 | $ 41,100,000
employee service share-based compensation, nonvested awards, total compensation cost not yet recognized, total period for recognition | 3 years 2 months 12 days |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Total Fair Value | $ 9,300,000 |  |  |
Options granted | shares | 4,900,000 |  |  |
Expected lives | 4 years 7 months 6 days |  | 4 years 6 months | 5 years
Volatility | 42.50% |  | 40.00% | 37.00%
Weighted Average Exercise Price, Granted | $ / shares | $ 91,470,000 |  | $ 115,850,000 |
Adjusted earnings percentage |  |  |  | 10.00%
Minimum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options vesting period | 3 years |  |  |
Risk-free interest rate | 3.45% |  | 0.50% | 0.31%
Maximum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options vesting period | 5 years |  |  |
Risk-free interest rate | 3.97% |  | 1.21% | 1.17%
Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized | $ 16.8 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Total Fair Value |  |  | $ 13,800,000 | $ 15,400,000
Weighted Average Grant Date Fair Value Per Share, Granted | $ / shares | $ 91.47 |  |  |
Weighted Average Exercise Price, Granted | $ / shares |  |  |  | $ 117.97
Performance-based Restricted Stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized | $ 26.3 |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized, Period for Recognition | 2 years |  |  |
Time-based restricted stock [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized, Period for Recognition | 2 years 10 months 13 days |  |  |
Stock Option [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | shares | 411,648,000,000 |  | 331,000,000,000 | 1,350,000,000,000
Weighted Average Remaining Contractual Term (years), Exercisable | 4 years 4 months 24 days |  |  |
Weighted Average Remaining Contractual Term (years), Vested | 4 years |  | 4 years |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized | $ 68,100,000 |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized, Period for Recognition | 4 years |  |  |
Options granted | shares | 411,648,000,000 |  | 331,000,000,000 | 1,350,000,000,000
Fair value of option | $ / shares | $ 36,700,000 |  | $ 40,300,000 | $ 26,900,000
Expected lives | 4 years 7 months 6 days | [1] | 4 years 7 months 6 days | 7 years 1 month 6 days
Risk-free interest rate | 3.80% |  | 1.19% | 0.33%
Volatility | 42.40% |  | 39.30% | 35.60%
Number of Shares, Granted | shares | 622,722 |  |  |
Weighted Average Exercise Price, Granted | $ / shares | $ 90.31 |  |  |
Stock Option [Member] | Maximum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted Average Remaining Contractual Term (years), Exercisable | 10 years |  |  |
[1] | During 2020, the Company granted 1,350,000 options that were valued using a Monte Carlo simulation due to market performance conditions included in the option grant. The Monte Carlo simulation calculated a fair value per option of $26.90 using the following assumptions: volatility of 37.0%, risk-free interest rate of 0.33%, and a term of 5.0 years.

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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