Equity and Cash Incentive Program - Fair Value and Average Attainment Used in Determining Compensation Cost of the Performance Shares (Details) - Performance shares - $ / shares	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Dover
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value at date of grant (in dollars per share)			$ 79.28
Average attainment rate reflected in expense			0.00%
Market Vesting Conditions
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value at date of grant (in dollars per share)	$ 57.43	$ 56.32
Performance Vesting Conditions
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value at date of grant (in dollars per share)	$ 40.22
Average attainment rate reflected in expense	100.00%