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Equity Incentive Program (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Stock-based compensation expense [Abstract]        
Pre-tax stock-based compensation expense $ 7,371 $ 7,876 $ 15,591 $ 24,493
Tax benefit (854) (489) (1,822) (2,035)
Total stock-based compensation expense, net of tax $ 6,517 $ 7,387 $ 13,769 $ 22,458
Stock Appreciation Rights (SARs) [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Equity awards issued during period (in shares)     390,780  
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)     $ 119.86 $ 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)     83,512  
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       168.96%