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Stock-Based Compensation - Stock Options and SARs (Details) - $ / shares shares in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Exercise Price |  |  |
Number of outstanding options (in shares) | 261 |  |
$60.01 - $80.00 |  |  |
Exercise Price |  |  |
Exercise price range, lower (in dollars per share) | $ 80.00 |  |
Exercise price range, upper (in dollars per share) | $ 60.01 |  |
Number of outstanding options (in shares) | 93 |  |
Weighted average remaining life (in years) | 4 years 3 months 18 days |  |
Weighted average exercise price (in dollars per share) | $ 66.98 |  |
$80.01 - $100.00 |  |  |
Exercise Price |  |  |
Exercise price range, lower (in dollars per share) | 80.01 |  |
Exercise price range, upper (in dollars per share) | $ 100.00 |  |
Number of outstanding options (in shares) | 113 |  |
Weighted average remaining life (in years) | 2 years 4 months 24 days |  |
Weighted average exercise price (in dollars per share) | $ 86.76 |  |
$100.01 - $130.00 |  |  |
Exercise Price |  |  |
Exercise price range, lower (in dollars per share) | 100.01 |  |
Exercise price range, upper (in dollars per share) | $ 130.00 |  |
Number of outstanding options (in shares) | 55 |  |
Weighted average remaining life (in years) | 2 years 3 months 18 days |  |
Weighted average exercise price (in dollars per share) | $ 124.35 |  |
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expected Term |  |  | 5 years
Expected volatility |  |  | 35.23%
Risk-free interest rate |  |  | 0.75%
Expected dividend yield |  | 0.00% |
Stock Options |  |  |
Outstanding options, beginning of period (in shares) | 312 | 348 | 283
Granted (in shares) |  |  | 112
Exercised (in shares) | (51) | (19) | (27)
Forfeited or expired (in shares) |  | (17) | (20)
Outstanding options, end of period (in shares) | 261 | 312 | 348
Weighted Average Exercise Price |  |  |
Weighted average exercise price, beginning (in dollars per share) | $ 85.56 | $ 85.46 | $ 93.51
Weighted average exercise price, granted (in dollars per share) |  |  | 66.98
Weighted average exercise price, exercised (in dollars per share) | 75.05 | 80.74 | 84.98
Weighted average exercise price, Forfeited or expired (in dollars per share) |  | 89.17 | 96.12
Weighted average exercise price, ending (in dollars per share) | $ 87.62 | $ 85.56 | $ 85.46
Exercisable (in shares) | 227 |  |
Weighted average exercise price, exercisable (in dollars per share) | $ 90.70 |  |
Stock appreciation rights |  |  |
SARs |  |  |
Non-vested at beginning of period (in shares) |  | 6 | 7
Granted (in shares) |  |  | 0
Exercised (in shares) |  | (6) | (1)
Forfeited or expired (in shares) |  | 0 | 0
Non-vested at end of period (in shares) |  |  | 6
Exercisable (in shares) | 0 |  |
Weighted average exercise price, exercisable (in dollars per share) | $ 0 |  |
Weighted Average Exercise Price |  |  |
Weighted average exercise price, beginning (in dollars per share) |  | $ 74.77 | $ 72.84
Weighted average exercise price, granted (in dollars per share) |  |  | 0
Weighted average exercise price, exercised (in dollars per share) | $ 0 | 74.77 | 56.59
Weighted average exercise price, forfeited or expired (in dollars per share) |  | $ 0 | 0
Weighted average exercise price, ending (in dollars per share) |  |  | $ 74.77

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting 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 (c)(2)(iii)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made 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 number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting 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 (c)(2)(iii)(02) -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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