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Equity and Cash Incentive Program - SARs Activity (Details) - Stock Appreciation Rights (SARs) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares      
Outstanding, beginning balance (in shares) 2,377,384    
Granted (in shares) 335,285 413,173 390,780
Forfeited/expired (in shares) (76,856)    
Exercised (in shares) (191,271)    
Outstanding, ending balance (in shares) 2,444,542 2,377,384  
Exercisable (in shares) 1,443,544    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 89.49    
Granted (in dollars per share) 160.21 $ 122.73 $ 119.86
Forfeited/Expired (in dollars per share) 135.59    
Exercised (in dollars per share) 76.15    
Ending balance (in dollars per share) 98.70 $ 89.49  
Weighted Average Exercise Price, Exercisable (in dollars per share) $ 74.87    
Weighted Average Remaining Contractual Term (Years)      
Outstanding 6 years    
Exercisable 4 years 6 months