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Equity Incentive Program (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Stock-based compensation expense [Abstract]    
Pre-tax stock-based compensation expense $ 3,252 $ 8,182
Tax benefit (349) (1,048)
Total stock-based compensation expense, net of tax $ 2,903 $ 7,134
Stock Appreciation Rights (SARs) [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Equity awards issued during period (in shares) 389,603  
Risk-free interest rate (in hundredths) 1.44% 2.51%
Dividend yield (in hundredths) 1.65% 2.13%
Expected life (in years) 5 years 6 months 5 years 7 months 6 days
Volatility (in hundredths) 22.76% 22.35%
Grant price (in dollars per share)   $ 91.20
Fair value at date of grant (in dollars per share) $ 22.54 17.55
Restricted Stock Units (RSUs) [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Equity awards issued during period (in shares) 78,553  
Performance Shares [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Equity awards issued during period (in shares) 49,056  
Risk-free interest rate (in hundredths) 1.40%  
Dividend yield (in hundredths) 1.65%  
Expected life (in years) 2 years 10 months 24 days  
Volatility (in hundredths) 23.30%  
Grant price (in dollars per share) $ 119.86  
Fair value at date of grant (in dollars per share) $ 165.71 $ 91.20
Performance share attainment   209.31%