Stock-Based Compensation - Summary of Options Outstanding (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options Outstanding, Number Outstanding (in shares)	6,962,374	7,197,662	7,111,231	6,724,358
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	4 years 29 days	4 years 3 months 21 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 91.73	$ 85.11	$ 78.28	$ 70.07
Options Exercisable, Number Exercisable (in shares)	3,666,871	3,659,755	3,389,399
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 84.00	$ 75.55	$ 67.19
$37.40 - $83.17
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	37.40
Range of Exercise Prices, Maximum (in dollars per share)	$ 83.17
Options Outstanding, Number Outstanding (in shares)	2,091,530
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	2 years 7 months 24 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 77.06
Options Exercisable, Number Exercisable (in shares)	2,091,530
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 77.06
87.60 - 90.21
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	87.60
Range of Exercise Prices, Maximum (in dollars per share)	$ 90.21
Options Outstanding, Number Outstanding (in shares)	1,025,535
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	3 years 3 months 18 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 87.64
Options Exercisable, Number Exercisable (in shares)	910,379
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 87.65
92.40 - 98.32
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	92.40
Range of Exercise Prices, Maximum (in dollars per share)	$ 98.32
Options Outstanding, Number Outstanding (in shares)	1,283,538
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	4 years 11 months 23 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 98.27
Options Exercisable, Number Exercisable (in shares)	14,613
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 93.57
100.74
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	$ 100.74
Options Outstanding, Number Outstanding (in shares)	1,237,167
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	4 years 10 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 100.74
Options Exercisable, Number Exercisable (in shares)	619,080
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 100.74
103.23 - 105.56
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	103.23
Range of Exercise Prices, Maximum (in dollars per share)	$ 105.56
Options Outstanding, Number Outstanding (in shares)	1,324,604
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	6 years 1 month 6 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 103.29
Options Exercisable, Number Exercisable (in shares)	31,269
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 105.56
$37.40 - $105.56
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Minimum (in dollars per share)	37.40
Range of Exercise Prices, Maximum (in dollars per share)	$ 105.56
Options Outstanding, Number Outstanding (in shares)	6,962,374
Options Outstanding, Weighted- Average Remaining Contractual Life (Years)	4 years 29 days
Options Outstanding, Weighted- Average Exercise Price (in dollars per share)	$ 91.73
Options Exercisable, Number Exercisable (in shares)	3,666,871
Options Exercisable, Weighted- Average Exercise Price (in dollars per share)	$ 84.00