Common Stock, Preferred Stock and Equity Plans - Outstanding and Vested Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stock Options
Outstanding at beginning of period (in shares)	4,238,000
Granted (in shares)	27,302	22,636	1,520,743
Exercised (in shares)	(518,000)
Forfeited (in shares)	(136,000)
Expired (in shares)	0
Outstanding at end of period (in shares)	3,611,000	4,238,000
Stock options exercisable at end of period (in shares)	3,149,000
Weighted-average Exercise Price
Outstanding at beginning of period ( in usd per share)	$ 140.47
Granted ( in usd per share)	217.20
Exercised ( in usd per share)	125.78
Forfeited ( in usd per share)	177.28
Expired ( in usd per share)	0
Outstanding at end of period ( in usd per share)	141.76	$ 140.47
Weighted average exercise price exercisable at the end of the period ( in usd per share)	$ 136.13
Weighted-average Remaining Contractual Life
Outstanding (in years)	5 years 5 months 1 day
Exercisable (in years)	5 years 2 months 8 days
Aggregate Intrinsic Value
Outstanding	$ 288.6
Exercisable	269.6
Total intrinsic value of stock options exercised	43.0	$ 255.0	$ 325.9
Total cash received from employees as a result of employee stock option exercises	$ 64.2	$ 228.2	$ 317.8
Weighted Average
Aggregate Intrinsic Value
Market share price ( in usd per share)	$ 221.27