Equity and Cash Incentive Program - Fair Value Assumptions (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	1.86%	0.59%	1.44%
Dividend yield	1.25%	1.62%	1.65%
Expected life (years)	5 years 4 months 24 days	5 years 6 months	5 years 6 months
Volatility	29.46%	30.49%	22.76%
Grant price (in dollars per share)	$ 160.21	$ 122.73	$ 119.86
Fair value per share at date of grant (in dollars per share)	$ 42.07	$ 29.08	$ 22.54
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	1.68%	0.19%	1.40%
Dividend yield	1.25%	1.62%	1.65%
Expected life (years)	2 years 10 months 24 days	2 years 10 months 24 days	2 years 10 months 24 days
Volatility	31.10%	31.90%	23.30%
Grant price (in dollars per share)	$ 160.21	$ 122.73	$ 119.86
Fair value per share at date of grant (in dollars per share)	$ 196.40	$ 148.29	$ 165.71