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Shareholders' Equity (Details 2) - $ / shares
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Stock Options, Valuation Assumptions      
Exercise price $ 63.15 $ 56.47 $ 44.01
Expected dividend yield 1.60% 1.60% 1.80%
Expected volatility 25.00% 26.00% 39.00%
Expected term (in years) 7 years 3 months 7 years 3 months 7 years 3 months
Risk-free rate 1.88% 2.20% 1.36%
Grant date fair value $ 15.29 $ 14.66 $ 15.10