Stock-Based Compensation - Narrative (Details) - USD ($) shares in Thousands, $ in Millions		12 Months Ended
	Jul. 01, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase price of common stock, percent of market value, not less than (as a percent)		100.00%
Stock based compensation expense		$ 123.5	$ 117.8	$ 123.0
Nonvested options granted, unrecognized compensation expense		$ 53.5
Nonvested options granted, period for recognition (in years)		1 year 10 months 9 days
Options exercised, total intrinsic value		$ 133.7	92.7	138.2
Proceeds from stock options exercised		$ 146.5	$ 110.0	$ 104.7
Nonvested shares granted (in shares)		280	271
Nonvested awards other than options granted, unrecognized compensation expense		$ 95.9
Nonvested awards other than options granted, weighted average period for recognition (in years)		1 year 8 months 23 days
Stock issued during period under employee stock purchase plan (in shares)		38	39	40
Proceeds from issuance of shares under employee stock purchase plan		$ 15.5	$ 14.3	$ 15.1
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum designated percent of eligible earnings per employee (as a percent)	10.00%
Discount percent (as a percent)	10.00%
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period (in years)		10 years
Stock based compensation expense		$ 38.0	38.1	40.4
Stock options | Weighted Average
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)		3 years
Restricted stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock based compensation expense		$ 83.3	$ 77.6	$ 82.7
Restricted stock | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)		1 year
Restricted stock | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)		4 years
Incentive Plan 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for grant (in shares)		7,499