Share-Based Compensation - Summary of Share Based Compensation Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Granted, Weighted-Average Grant-Date Fair Value (in dollars per share)	$ 64.61	$ 72.54	$ 79.96
SARs and Stock Options
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding at Beginning, Number (in shares)	1,289
Granted, Number (in shares)	237
Exercised or converted, Number (in shares)	(49)
Forfeited or expired, Number (in shares)	(110)
Outstanding at Ending, Number (in shares)	1,367	1,289
Vested or expected to vest at End, Number (in shares)	1,349
Exercisable or convertible at End, Number (in shares)	936
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding at Beginning, Weighted-Average Exercise Price (in dollars per share)	$ 65.58
Granted, Weighted-Average Exercise Price (in dollars per share)	61.71
Exercised or converted, Weighted-Average Exercise Price (in dollars per share)	48.27
Forfeited or expired, Weighted-Average Exercise Price (in dollars per share)	71.73
Outstanding at End, Weighted-Average Exercise Price (in dollars per share)	65.04	$ 65.58
Vested or expected to vest at End, Weighted-Average Exercise Price	65.01
Exercisable or convertible at End, Weighted-Average Exercise Price	$ 63.88
Outstanding at End, Weighted-Average Remaining Contractual Term	6 years 2 months 12 days
Vested or expected to vest at End, Weighted-Average Remaining Contractual Term	6 years 1 month 6 days
Exercisable or convertible at End, Weighted-Average Remaining Contractual Term	5 years 1 month 6 days
Outstanding at End, Aggregate Intrinsic Value	$ (13,727)
Vested or expected to vest at End, Aggregate Intrinsic Value	(13,498)
Exercisable or convertible at End, Aggregate Intrinsic Value	$ (8,312)
Restricted Shares and Units
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding at Beginning, Number (in shares)	627
Granted, Number (in shares)	353
Exercised or converted, Number (in shares)	(170)
Forfeited or expired, Number (in shares)	(73)
Outstanding at End, Number (in shares)	737	627
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Outstanding at Beginning, Weighted-Average Grant-Date Fair Value (in dollars per share)	$ 71.66
Granted, Weighted-Average Grant-Date Fair Value (in dollars per share)	64.61
Exercised or converted, Weighted-Average Grant-Date Fair Value (in dollars per share)	58.73
Forfeited or expired, Weighted-Average Grant-Date Fair Value (in dollars per share)	70.30
Outstanding at End, Weighted-Average Grant-Date Fair Value (in dollars per share)	$ 68.31	$ 71.66

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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The weighted average fair value of nonvested awards on equity-based plans excluding option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, revenue or profit achievement stock award plan) for which the employer is contingently obligated to issue equity instruments or transfer assets to an employee who has not yet satisfied service or performance criteria necessary to gain title to proceeds from the sale of the award or underlying shares or units.

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No definition available.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Weighted average price of options that were either forfeited or expired.

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- Definition

The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Net number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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No definition available.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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No definition available.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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