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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