Common Stock, Preferred Stock and Equity Plans - Outstanding and Vested Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock Options
Outstanding at beginning of period (in shares)	3,611,000
Granted (in shares)	20,079	27,302	22,636
Exercised (in shares)	(1,087,000)
Forfeited (in shares)	(17,000)
Expired (in shares)	0
Outstanding at end of period (in shares)	2,527,000	3,611,000
Exercisable (in shares)	2,446,000
Weighted-average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 141.76
Granted (in dollars per share)	276.17
Exercised (in dollars per share)	133.50
Forfeited (in dollars per share)	181.49
Expired (in dollars per share)	0
Outstanding at end of period (in dollars per share)	146.11	$ 141.76
Exercisable (in dollars per share)	$ 144.94
Weighted-average Remaining Contractual Life
Outstanding (in years)	4 years 8 months 1 day
Exercisable (in years)	4 years 7 months 9 days
Aggregate Intrinsic Value
Outstanding	$ 355.6
Exercisable	347.1
Total intrinsic value of stock options exercised	157.2	$ 43.0	$ 255.0
Total cash received from employees as a result of employee stock option exercises	$ 144.6	$ 64.2	$ 228.2
Weighted Average
Aggregate Intrinsic Value
Market share price (in dollars per share)	$ 286.86