What were the chances of a Roman slave making a successful escape, and how would they go about doing so?

What sorts of security arrangements were there? Where would a slave go if they succeeded in escaping? What were their chances of being picked up again and returned to their owner?

I'm specifically interested in either slaves in rich households, as scribes or teachers or the like, or in the hard labor areas like agriculture or the mines, but I won't complain about an answer for any other field. In terms of time period, I'm specifically thinking of the late Republic/early Principate, but again, I won't complain about an answer for any other time period.