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Equity and Cash Incentive Program - SARs Activity (Details) - Stock Appreciation Rights (SARs) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Shares      
Outstanding, beginning balance (in shares) 2,979,933    
Granted (in shares) 413,173 390,780 615,089
Forfeited/expired (in shares) (89,899)    
Exercised (in shares) (925,823)    
Outstanding, ending balance (in shares) 2,377,384 2,979,933  
Exercisable (in shares) 1,125,435    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 79.36    
Granted (in dollars per share) 122.73 $ 119.86 $ 91.20
Forfeited/Expired (in dollars per share) 110.58    
Exercised (in dollars per share) 69.99    
Ending balance (in dollars per share) 89.49 $ 79.36  
Weighted Average Exercise Price, Exercisable (in dollars per share) $ 67.69    
Weighted Average Remaining Contractual Term (Years)      
Outstanding 6 years 6 months    
Exercisable 4 years 9 months 18 days