Stock Options and Employee Stock Purchase Plan - Valuation Assumptions of Stock Options and Market-based Restricted Stock Awards Granted (Details) - $ / shares	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Payment Arrangement, Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	0.00%	0.00%	2.40%
Expected term (in years)	0 years	0 years	6 years 8 months 12 days
Dividend yield	0.00%	0.00%	2.20%
Expected volatility	0.00%	0.00%	29.20%
Weighted average volatility	0.00%	0.00%	29.20%
Market-based Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	0.70%	2.50%	2.90%
Expected volatility	27.00%	28.30%	28.40%
Underlying stock price at valuation date (in usd per share)	$ 91.17	$ 84.58	$ 82.11

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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- Definition

The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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+ Details

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

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+ Details

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- Definition

Rate of weighted-average expected volatility for award under share-based payment arrangement.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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No definition available.

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- Definition

Price of a single share of a number of saleable stocks of a company.

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No definition available.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(i)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.D.2)
-URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809

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