Equity and Cash Incentive Program (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Shares available for grant	17,000,000
Vesting period (in years)	3 years
Award term	10 years
Additional Disclosures [Abstract]
Tax benefit from the exercise of share-based awards	$ 14,759	$ 8,365	$ 4,964
Stock-based compensation expense [Abstract]
Pre-tax compensation expense	29,702	23,698	24,073
Tax benefit	(2,490)	(2,722)	(8,411)
Total stock-based compensation expense, net of tax	$ 27,212	$ 20,976	$ 15,662
Shares Granted to Directors [Abstract]
Aggregate shares granted	10,838	15,802	16,231
Shares deferred	(6,168)	(9,917)	(11,337)
Net shares granted	4,670	5,885	4,894
Stock Appreciation Rights (SARs) [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Additional awards issued due to modification		1,138,008
Risk-free interest rate (in hundredths)	2.51%		1.80%
Dividend yield (in hundredths)	2.13%		2.27%
Expected life (in years)	5 years 7 months 6 days		4 years 7 months 6 days
Volatility (in hundredths)	22.35%		21.90%
Grant price	$ 91.20		$ 66.85
Fair value on date of grant	17.55		$ 10.65
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value	$ 91.24
Awards Outstanding [Roll Forward]
Awards Outstanding (in number of shares)	3,599,169	5,329,204
Awards Forfeit and Expired (in number of shares)	(181,498)
Awards Exercised (in number of shares)	(2,163,626)
Awards Exercisable (in number of shares)	1,579,082
Awards Outstanding, Weighted Average Exercise Price [Roll Forward]
Awards Outstanding, Weighted Average Exercise Price	$ 69.07	$ 60.19
Awards Forfeit and Expired, Weighted Average Exercise Price	78.84
Awards Exercised, Weighted Average Exercise Price	52.66
Awards Exercisable, Weighted Average Exercise Price	$ 57.26
Additional Disclosures [Abstract]
Awards Outstanding, Weighted Average Remaining Contractual Term	6 years 4 months 24 days
Awards Exercisable, Weighted Average Remaining Contractual Term	4 years 3 months 18 days
Fair value of stock appreciation rights which became exerciable during the year	$ 8,611	$ 12,832	$ 16,006
Awards Exercised, Total Intrinsic Value	$ 89,473	$ 101,365	$ 44,646
Unvested Awards [Roll Forward]
Awards Granted (in number of shares)	615,089	757,603	1,028,116
Unrecognized Compensation Cost [Abstract]
Unrecognized Compensation Expense	$ 8,862
Unrecognized Compensation Expense, Period for Recognition	1 year 8 months 12 days
Performance Shares [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Additional awards issued due to modification		26,316
Grant price	$ 91.33
Fair value on date of grant	91.20		$ 66.85
Awards Outstanding, Weighted Average Exercise Price [Roll Forward]
Awards Forfeit and Expired, Weighted Average Exercise Price	$ 76.46
Unvested Awards [Roll Forward]
Awards Unvested (in number of shares)	137,809	144,957
Awards Granted (in number of shares)	35,172	122,459	57,958
Awards Forfeit (in number of shares)	(19,026)
Awards Vested (in number of shares)	(23,294)
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward]
Awards Unvested, Weighted Average Grant Date Fair Value	$ 82.45	$ 76.99
Awards Vested, Weighted Average Grant Date Fair Value	$ 66.85
Unrecognized Compensation Cost [Abstract]
Unrecognized Compensation Expense	$ 13,016
Unrecognized Compensation Expense, Period for Recognition	1 year 3 months 18 days
Shares Granted to Directors [Abstract]
Performance Share Attainment	200.30%	282.40%	237.00%
Restricted Stock Units (RSUs) [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Additional awards issued due to modification		47,063
Fair value on date of grant	$ 91.34
Unvested Awards [Roll Forward]
Awards Unvested (in number of shares)	324,553	390,481
Awards Granted (in number of shares)	124,929	284,721	174,203
Awards Forfeit (in number of shares)	(23,706)
Awards Vested (in number of shares)	(167,151)
Unvested Awards, Weighted Average Grant Date Fair Value [Roll Forward]
Awards Unvested, Weighted Average Grant Date Fair Value	$ 81.45	$ 73.35
Awards Forfeit, Weighted Average Grant Date Fair Value	84.02
Awards Vested, Weighted Average Grant Date Fair Value	$ 69.55
Unrecognized Compensation Cost [Abstract]
Unrecognized Compensation Expense	$ 17,307
Unrecognized Compensation Expense, Period for Recognition	1 year 7 months 6 days
Minimum [Member] \| Stock Appreciation Rights (SARs) [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Risk-free interest rate (in hundredths)		2.58%
Dividend yield (in hundredths)		1.99%
Expected life (in years)		5 years 7 months 6 days
Volatility (in hundredths)		20.95%
Grant price		$ 79.75
Fair value on date of grant		14.58
Minimum [Member] \| Performance Shares [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Fair value on date of grant		$ 79.75
Maximum [Member] \| Stock Appreciation Rights (SARs) [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Risk-free interest rate (in hundredths)		2.87%
Dividend yield (in hundredths)		2.43%
Expected life (in years)		5 years 8 months 12 days
Volatility (in hundredths)		21.20%
Grant price		$ 82.09
Fair value on date of grant		15.41
Maximum [Member] \| Performance Shares [Member]
Awards Granted, Fair Value Assumptions and Methodology [Abstract]
Fair value on date of grant		$ 82.09
Discontinued Operations [Member]
Stock-based compensation expense [Abstract]
Pre-tax compensation expense		$ 744	$ 2,454

Common stock issued to directors, net of tax obligations.

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Amount, after tax, of expense for award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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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).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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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.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Number of shares authorized for issuance under share-based payment arrangement.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Other than shares newly issued, the number of additional shares issued (for example, a stock split) or canceled (for example, to correct a share issuance), during the period under the plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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