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Stock Incentive Plans - Stock Option and SAR Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Cash received from stock options exercised (including ESPP) $ 549,000 $ 264,000 $ 210,000
Payments for taxes for net share settlement of equity awards $ 168,000 88,000 112,000
Stock options granted through 2018      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 7 years    
Stock options granted subsequent to 2018      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 10 years    
Stock Appreciation Rights (SARs)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 10 years    
Employee Stock Options and Stock Appreciation Rights      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Cash received from stock options exercised (including ESPP) $ 549,000 264,000 210,000
Payments for taxes for net share settlement of equity awards 168,000 88,000 112,000
Intrinsic value of stock options and SARs exercised 105,000 24,000 30,000
Fair value of stock options and SARs vested $ 224,000 $ 252,000 $ 467,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Shares, Outstanding at beginning of year (in shares) 23,955    
Shares granted (in shares) 3,322    
Shares exercised (in shares) (6,366)    
Shares forfeited (in shares) (694)    
Shares expired (in shares) (1,156)    
Shares, Outstanding at end of year (in shares) 19,061 23,955  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted average exercise price, outstanding at beginning of year ($ per share) $ 69.62    
Weighted average exercise price, granted ($ per share) 74.66    
Weighted average exercise price, exercised ($ per share) 63.41    
Weighted average exercise price, forfeited ($ per share) 62.66    
Weighted average exercise price, expired ($ per share) 87.42    
Weighted average exercise price, outstanding at end of year ($ per share) $ 71.74 $ 69.62  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted average contractual term, outstanding at end of year 4 years 9 months    
Aggregate Intrinsic value outstanding at end of year $ 603,137    
Shares exercisable at end of year (in shares) 9,704    
Weighted average exercise price exercisable at end of year ($ per share) $ 79.99    
Weighted average remaining contractual term exercisable at end of year 2 years 7 months 9 days    
Aggregate intrinsic value exercisable at end of year $ 229,034    
Shares vested at end of year and expected to vest in the future (in shares) 18,709    
Weighted average exercise price vested at end of year and expected to vest in the future ($ per share) $ 71.82    
Weighted average remaining contractual term vested at end of year and expected to vest in the future 4 years 8 months 8 days    
Aggregate intrinsic value vested at end of year and expected to vest in the future $ 590,514