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Stock Plans - Activity Under All Stock Plans and Weighted Average Exercise Prices (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Non-Executive Officer Time-Based Awards      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 1,020 947 1,085
Granted (in shares) 507 625 434
Restrictions lapsed (in shares) (530) (526) (557)
Forfeited (in shares) (46) (26) (15)
Outstanding, Ending Balance (in shares) 951 1,020 947
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 57.57 $ 57.67 $ 50.24
Granted (usd per share) 76.49 54.92 66.66
Restrictions lapsed (usd per share) 60.10 54.57 50.29
Forfeited (usd per share) 65.40 58.37 53.85
Outstanding Ending Balance (usd per share) $ 65.85 $ 57.57 $ 57.67
Performance-Based Awards With Market Conditions      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 459 236 358
Granted (in shares) 167 223 236
Restrictions lapsed (in shares) 0 0 (338)
Forfeited (in shares) 0 0 (20)
Outstanding, Ending Balance (in shares) 626 459 236
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 70.53 $ 74.01 $ 45.93
Granted (usd per share) 88.77 66.86 74.01
Restrictions lapsed (usd per share) 0 0 45.93
Forfeited (usd per share) 0 0 45.93
Outstanding Ending Balance (usd per share) $ 75.41 $ 70.53 $ 74.01
Performance-Based Awards Without Market Conditions      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 278 608 608
Granted (in shares) 70 70 0
Restrictions lapsed (in shares) (348) (400) 0
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 0 278 608
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 56.83 $ 51.74 $ 51.74
Granted (usd per share) 56.83 47.45 0
Restrictions lapsed (usd per share) 56.83 47.45 0
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 0 $ 56.83 $ 51.74
Total Awards With Performance Condition      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 737 844 966
Granted (in shares) 237 293 236
Restrictions lapsed (in shares) (348) (400) (338)
Forfeited (in shares) 0 0 (20)
Outstanding, Ending Balance (in shares) 626 737 844
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 65.36 $ 57.97 $ 49.58
Granted (usd per share) 79.40 62.22 74.01
Restrictions lapsed (usd per share) 56.83 47.45 45.93
Forfeited (usd per share) 0 0 45.93
Outstanding Ending Balance (usd per share) $ 75.41 $ 65.36 $ 57.97