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Shareholders' Equity (Awards) (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation cost $ 54.6    
Weighted average period costs expected to be recognized (in years) 3 years 2 months 12 days    
Stock Options and Stock Appreciation Rights (SARs)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Grant date fair value of Stock options & SARs (in dollars per share) $ 40.18 $ 49.88 $ 42.47
Expected stock price volatility (percent) 41.84% 38.45% 39.27%
Risk-free interest rate (percent) 4.14% 1.68% 0.81%
Expected annual dividend yield (percent) 0.82% 0.56% 0.64%
Expected term of option & SARs (in years) 5 years 4 months 24 days 5 years 4 months 24 days 5 years 6 months
Share-based Compensation Arrangement by Share-based Payment Award, Options and SARs, Outstanding [Roll Forward]      
Number of shares outstanding, Beginning Balance 3,701    
Number of shares, Granted 564    
Number of shares, Forfeited (241)    
Number of shares, Exercised (260)    
Number of shares outstanding, Ending Balance 3,764 3,701  
Number of shares, Exercisable 2,097    
Number of shares, Stock options & SARs expected to vest 1,667    
Share-based Compensation Arrangement by Share-based Payment Award, Options and SARs, Outstanding, Weighted Average Exercise Price [Roll Forward]      
Weighted average exercise price, Beginning Balance (in dollars per share) $ 92.98    
Weighted average exercise price, Granted (in dollars per share) 97.77    
Weighted average exercise price, Forfeited (in dollars per share) 118.06    
Weighted average exercise price, Exercised (in dollars per share) 67.30    
Weighted average exercise price, Ending Balance (in dollars per share) 93.82 $ 92.98  
Exercisable, Weighted Average Exercise Price (in dollars per share) 77.53    
Stock options & SARs expected to vest, Weighted Average Exercise Price (in dollars per share) $ 114.32    
Weighted average remaining contractual term, options outstanding (in years) 6 years 1 month 6 days    
Weighted average remaining contractual term, options exercisable (in years) 4 years 8 months 12 days    
Aggregate intrinsic value, options outstanding $ 87.2    
Aggregate intrinsic value, options exercisable 74.3    
Aggregate intrinsic value $ 12.9 $ 13.6 $ 49.2
Restricted Stock Units (RSUs) and Performance Share Units (PSUs)      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Number of shares outstanding, Beginning Balance 46    
Number of shares, Granted 53    
Number of shares, Vested (22)    
Number of shares, Forfeited (10)    
Number of shares outstanding, Ending Balance 67 46  
Share-based Compensation Arrangement by Share-based Payment Award, Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Weighted average grant date fair value, Beginning Balance (in dollars per share) $ 117.91    
Weighted average grant date fair value, Granted (in dollars per share) 127.59 $ 136.35 $ 129.94
Weighted average grant date fair value, Vested (in dollars per share) 108.69    
Weighted average grant date fair value, Forfeited (in dollars per share) 113.87    
Weighted average grant date fair value, Ending Balance (in dollars per share) $ 129.32 $ 117.91  
Total fair value of shares vested $ 2.4 $ 2.6 $ 2.2