Equity and Cash Incentive Program - SARs Activity (Details) - Stock Appreciation Rights (SARs) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Outstanding, beginning balance (in shares)	2,444,542
Granted (in shares)	359,715	335,285	413,173
Forfeited/expired (in shares)	(65,178)
Exercised (in shares)	(329,469)
Outstanding, ending balance (in shares)	2,409,610	2,444,542
Exercisable (in shares)	1,446,739
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 98.70
Granted (in dollars per share)	153.25	$ 160.21	$ 122.73
Forfeited/Expired (in dollars per share)	142.25
Exercised (in dollars per share)	69.93
Ending balance (in dollars per share)	109.65	$ 98.70
Weighted Average Exercise Price, Exercisable (in dollars per share)	$ 86.31
Weighted Average Remaining Contractual Term (Years)
Outstanding	5 years 9 months 18 days
Exercisable	4 years 3 months 18 days
Outstanding, Aggregate Intrinsic Value	$ 108,242
Exercisable, Aggregate Intrinsic Value	$ 97,651