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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
May 02, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Performance share and restricted stock awards        
Unrecognized compensation cost related to stock options   $ 38.7    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards   1 year 8 months 12 days    
Stock option awards        
Number of Shares        
Outstanding at the beginning of the period (in shares)   1,586    
Stock options granted (in shares)   179    
Options exercised (in shares)   (186)    
Options forfeited (in shares)   (146)    
Outstanding at the end of the period (in shares)   1,433 1,586  
Vested and exercisable at the end of the period (in shares)   711    
Intrinsic value of options exercised   $ 23.5 $ 57.9 $ 72.8
Weighted Average Price        
Outstanding at the beginning of the period (in dollars per share)   $ 193.17    
Options granted (in dollars per share)   250.84    
Options exercised (in dollars per share)   136.59    
Options forfeited (in dollars per share)   271.09    
Outstanding at the end of the period (in dollars per share)   199.79 $ 193.17  
Vested and exercisable at the end of the period (in dollars per share)   $ 145.57    
Weighted average contractual term   6 years 10 months 24 days    
The weighted average contractual term of options exercisable   5 years 4 months 24 days    
Aggregate intrinsic value of options outstanding   $ 161.4    
Aggregate intrinsic value of options vested and exercisable   $ 118.7    
Performance share and restricted stock awards        
Vesting period of shares awarded under the Program   3 years    
Unrecognized compensation cost related to stock options   $ 17.5    
Restricted stock awards        
Performance share and restricted stock awards        
Vesting period of shares awarded under the Program   3 years    
Unrecognized compensation cost related to stock options   $ 8.6    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards   1 year 8 months 12 days    
Intrinsic value of shares vested during year ended December 31   $ 10.7 $ 15.7 $ 11.8
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Outstanding at beginning of period (shares)   125    
Awards granted (in shares)   50    
Awards vested (in shares)   (43)    
Awards forfeited (in shares)   (6)    
Outstanding at end of period (shares)   126 125  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Outstanding at beginning of period (in dollars per share)   $ 174.34    
Awards granted (in dollars per share)   250.83 $ 227.44 $ 154.23
Awards vested (in dollars per share)   166.69    
Awards forfeited (in dollars per share)   198.51    
Outstanding at end of period (in dollars per share)   $ 205.96 $ 174.34  
Weighted average contractual term   10 months 24 days    
Aggregate intrinsic value   $ 39.4    
Performance share awards        
Performance share and restricted stock awards        
Vesting period of shares awarded under the Program   3 years    
Unrecognized compensation cost related to stock options   $ 10.2    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards   1 year 9 months 18 days    
Fair value of shares vested during year ended December 31   $ 19.9 $ 22.0 $ 13.3
Measurement period   3 years    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Outstanding at beginning of period (shares)   128    
Awards granted (in shares)   35    
Awards vested (in shares)   (79)    
Awards converted (in shares)   39    
Awards forfeited (in shares)   (5)    
Outstanding at end of period (shares)   118 128  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Outstanding at beginning of period (in dollars per share)   $ 244.25    
Awards granted (in dollars per share)   368.47 $ 313.77 $ 213.13
Awards vested (in dollars per share)   222.47    
Awards converted (in dollars per share)   222.47    
Awards forfeited (in dollars per share)   310.83    
Outstanding at end of period (in dollars per share)   $ 285.97 $ 244.25  
Weighted average contractual term   9 months 18 days    
Aggregate intrinsic value   $ 36.9    
Stock appreciation rights        
Performance share and restricted stock awards        
Stock appreciation rights settled for cash $ 22.2      
Deferred Compensation Equity        
Number of Shares        
Number of common stock deferred (in shares)   63 72  
Performance share and restricted stock awards        
Number of common stock deferred (in shares)   63 72