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Share-Based Compensation Plans - Terms and Assumptions (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
TSR PSU      
Weighted-average assumptions used to estimate fair value:      
Expected dividend yield 0.80% 0.80% 0.80%
Expected stock price volatility 30.80% 29.90% 30.60%
Risk-free interest rate 2.50% 2.40% 1.40%
Contractual term in years 2 years 9 months 18 days 2 years 10 months 24 days 2 years 10 months 24 days
Weighted-average fair value estimate at grant date $ 3.0 $ 3.2 $ 2.0
Weighted-average fair value estimate per share (in dollars per share) $ 105.16 $ 79.05 $ 67.81
Vesting period 3 years    
Performance-based Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Performance period for achieving stock price hurdles 3 years    
Weighted-average assumptions used to estimate fair value:      
Expected dividend yield   0.80% 0.80%
Expected stock price volatility   29.30% 29.30%
Risk-free interest rate   2.60% 1.80%
Contractual term in years 4 years 6 months 4 years 6 months 4 years 6 months
Market price (in dollars per share) $ 90.68    
Weighted-average fair value estimate at grant date   $ 7.0 $ 3.6
Weighted-average fair value estimate per share (in dollars per share) $ 0 $ 16.73 $ 11.97
Vesting period 3 years    
Contractual term 6 years    
Time Based Vesting Option      
Weighted-average assumptions used to estimate fair value:      
Expected dividend yield 0.80%   0.70%
Expected stock price volatility 30.30%   28.90%
Risk-free interest rate 2.50%   1.70%
Contractual term in years 4 years 6 months   4 years 6 months
Market price (in dollars per share) $ 90.68    
Weighted-average fair value estimate at grant date $ 3.0   $ 0.1
Weighted-average fair value estimate per share (in dollars per share) $ 21.58   $ 21.09