Equity and Cash Incentive Program - Fair Value Assumptions (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	3.91%	1.86%	0.59%
Dividend yield	1.32%	1.25%	1.62%
Expected life (years)	5 years 4 months 24 days	5 years 4 months 24 days	5 years 6 months
Volatility	30.65%	29.46%	30.49%
Grant price (in dollars per share)	$ 153.25	$ 160.21	$ 122.73
Fair value per share at date of grant (in dollars per share)	$ 47.27	$ 42.07	$ 29.08
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	4.28%	1.68%	0.19%
Dividend yield	1.32%	1.25%	1.62%
Expected life (years)	2 years 10 months 24 days	2 years 10 months 24 days	2 years 10 months 24 days
Volatility	27.30%	31.10%	31.90%
Grant price (in dollars per share)	$ 153.25	$ 160.21	$ 122.73
Fair value per share at date of grant (in dollars per share)	$ 249.48	$ 196.40	$ 148.29