v3.22.0.1
Incentive Stock Program - Options Fair Value (Details) - Stock options - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Incentive Stock Program      
Fair value of an option granted (in dollars per share) $ 24.17 $ 14.39 $ 14.50
Fair value assumptions:      
Risk-free interest rate (as a percent) 0.80% 1.30% 2.50%
Average life of options (years) 6 years 6 years 6 years
Volatility (as a percent) 23.80% 19.40% 19.80%
Dividend yield (as a percent) 1.50% 1.60% 1.70%