If you can store it offline, why can't you just store it online in an encrypted file using a strong encryption key?
If you make a mistake or fall victim to an attack that lets someone steal the encrypted file containing your key, there's a good chance the attacker will also be able to install a keylogger and get your passphrase.
I don't think offline storage is necessary as long as you're certain your system is clean, which a clean linux install helps.
It's on a USB stick in our fire safe, and also in our safe deposit box along with a passphrase hint that my wife or daughter would understand, but is not obvious to an outsider.