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Stock-based Compensation Expense Weighted-Average Assumptions used to Estimate Fair Value of Each Option Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Employee Stock Option      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Dividend yield 1.58% 1.44% 1.56%
Volatility 32.50% 32.48% 32.70%
Average expected life (years) 6 years 6 years 6 years
Risk-free interest rate 2.81% 3.06% 2.51%
Fair value of options granted (in dollars per share) $ 27.71 $ 37.35 $ 27.99
Performance Unit Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Volatility 30.11% 29.92% 30.34%
Risk-free interest rate 2.43% 2.36% 1.34%