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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock-based compensation expense      
Unrecognized compensation cost related to awards other than options $ 25.4    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 4 months 24 days    
Stock options      
Number of Shares      
Outstanding at the beginning of the period (in shares) 1,964,000    
Stock options granted (in shares) 460,000    
Options exercised (in shares) (448,000)    
Options forfeited (in shares) (151,000)    
Outstanding at the end of the period (in shares) 1,825,000 1,964,000  
Vested and exercisable at the end of the period (in shares) 646,000    
Intrinsic value of options exercised $ 25.4 $ 18.4 $ 8.5
Fair value of options vested $ 6.3 $ 10.2 5.4
Weighted Average Price      
Outstanding at the beginning of the period (in dollars per share) $ 95.76    
Options granted (in dollars per share) 110.82    
Options exercised (in dollars per share) 82.26    
Options forfeited (in dollars per share) 107.81    
Outstanding at the end of the period (in dollars per share) 101.95 $ 95.76  
Vested and exercisable at the end of the period (in dollars per share) $ 89.69    
Weighted average contractual term 7 years 7 months 6 days    
The weighted average contractual term of options exercisable 5 years 10 months 24 days    
Aggregate intrinsic value of options outstanding $ 109.3    
Aggregate intrinsic value of options vested and exercisable 46.6    
Stock-based compensation expense      
Unrecognized compensation cost related to awards other than options $ 9.8    
Performance share awards      
Vesting period of shares awarded under the Program 3 years    
Restricted stock awards      
Stock-based compensation expense      
Unrecognized compensation cost related to awards other than options $ 6.7    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 7 months 6 days    
Performance share awards      
Vesting period of shares awarded under the Program 3 years    
Fair value of shares vested during year ended December 31 $ 4.6 $ 9.8 8.1
Intrinsic value of shares vested during year ended December 31 $ 5.6 $ 11.7 $ 11.4
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding at beginning of period (shares) 169,000    
Awards granted (in shares) 58,000    
Awards vested (in shares) (50,000)    
Awards forfeited (in shares) (4,000)    
Outstanding at end of period (shares) 173,000 169,000  
Outstanding at beginning of period (in dollars per share) $ 103.47    
Awards granted (in dollars per share) 112.70 $ 114.27 $ 106.78
Awards vested (in dollars per share) 92.53    
Awards forfeited (in dollars per share) 109.22    
Outstanding at end of period (in dollars per share) $ 109.62 $ 103.47  
Weighted average contractual term 1 year    
Aggregate intrinsic value $ 28.0    
Performance share awards      
Stock-based compensation expense      
Unrecognized compensation cost related to awards other than options $ 6.9    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 8 months 12 days    
Performance share awards      
Vesting period of shares awarded under the Program 3 years    
Fair value of shares vested during year ended December 31 $ 5.0 $ 5.3 $ 11.6
Intrinsic value of shares vested during year ended December 31 $ 5.9 $ 5.2 $ 10.0
Measurement period 3 years    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding at beginning of period (shares) 153,000    
Awards granted (in shares) 52,000    
Awards vested (in shares) (49,000)    
Awards withheld (in shares) (9,000)    
Awards forfeited (in shares) (4,000)    
Outstanding at end of period (shares) 143,000 153,000  
Outstanding at beginning of period (in dollars per share) $ 132.68    
Awards granted (in dollars per share) 149.27 $ 140.20 $ 141.83
Awards vested (in dollars per share) 119.37    
Awards converted (withheld) (in dollars per share) 118.80    
Awards forfeited (in dollars per share) 143.31    
Outstanding at end of period (in dollars per share) $ 143.94 $ 132.68  
Weighted average contractual term 1 year    
Aggregate intrinsic value $ 23.2    
Restricted Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Awards granted (in shares) 12,000 13,000 13,000
Outstanding at beginning of period (in dollars per share) $ 108.72 $ 107.87  
Outstanding at end of period (in dollars per share) $ 110.79 $ 108.72 $ 107.87
Stock appreciation rights      
Stock-based compensation expense      
Unrecognized compensation cost related to awards other than options $ 11.6    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 3 months 18 days    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding at beginning of period (shares) 0    
Awards granted (in shares) 493,000    
Awards forfeited (in shares) (131,000)    
Outstanding at end of period (shares) 362,000 0  
Weighted average contractual term 1 year 3 months 18 days    
Aggregate intrinsic value $ 19.9    
Stock Appreciation Rights, Weighted Average Exercise Price [Abstract]      
Outstanding at beginning of period (in dollars per share) $ 0    
Award granted (in dollars per share) 106.85    
Awards forfeited (in dollars per share) 106.85    
Outstanding at end of period (in dollars per share) $ 106.85 $ 0  
Deferred Compensation Equity      
Number of Shares      
Number of common stock deferred (in shares) 86,000 202,000  
Performance share awards      
Number of common stock deferred (in shares) 86,000 202,000