Equity and Cash Incentive Program - Outstanding and Exercisable Awards (Details) - Stock Appreciation Rights (SARs) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Exercise Price Range [Line Items]
Outstanding, Number of Shares | shares	2,444,542
Outstanding, Aggregate Intrinsic Value | $	$ 97,201
Exercisable, Number of Shares | shares	1,443,544
Exercisable, Aggregate Intrinsic Value | $	$ 87,389
Exercise Price Range 1
Exercise Price Range [Line Items]
Range of Exercise, lower range limit (in dollars per share)	$ 48.28
Range of Exercise, upper range limit (in dollars per share)	$ 82.09
Outstanding, Number of Shares | shares	1,009,878
Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 67.86
Outstanding, Weighted Average Remaining Life in Years	3 years 9 months 18 days
Outstanding, Aggregate Intrinsic Value | $	$ 68,217
Exercisable, Number of Shares | shares	1,009,878
Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 67.86
Exercisable , Weighted Average Remaining Life in Years	3 years 9 months 18 days
Exercisable, Aggregate Intrinsic Value | $	$ 68,217
Exercise Price Range 2
Exercise Price Range [Line Items]
Range of Exercise, lower range limit (in dollars per share)	$ 84.94
Range of Exercise, upper range limit (in dollars per share)	$ 119.86
Outstanding, Number of Shares | shares	771,613
Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 103.70
Outstanding, Weighted Average Remaining Life in Years	6 years 7 months 6 days
Outstanding, Aggregate Intrinsic Value | $	$ 24,469
Exercisable, Number of Shares | shares	433,666
Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 91.20
Exercisable , Weighted Average Remaining Life in Years	6 years 1 month 6 days
Exercisable, Aggregate Intrinsic Value | $	$ 19,172
Exercise Price Range 3
Exercise Price Range [Line Items]
Range of Exercise, lower range limit (in dollars per share)	$ 122.73
Range of Exercise, upper range limit (in dollars per share)	$ 160.21
Outstanding, Number of Shares | shares	663,051
Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 139.87
Outstanding, Weighted Average Remaining Life in Years	8 years 7 months 6 days
Outstanding, Aggregate Intrinsic Value | $	$ 4,515
Exercisable, Number of Shares | shares	0
Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 0
Exercisable , Weighted Average Remaining Life in Years	0 years
Exercisable, Aggregate Intrinsic Value | $	$ 0