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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2021
Stock-Based Compensation [Abstract]  
Stock Option Valuation Assumptions
The fair value of stock option awards was estimated using the Black-Scholes option-pricing model with the following assumptions and weighted-average fair values as follows:

 
December 31,
  
Stock Options:
  
2021
    
2020
    
2019
  
Weighted-average grant date fair value of grants
  
$
16.10
    
$
8.59
    
$
19.72
  
Risk-free interest rate(1)
    
0.5
%
    
1.4
%
    
2.5
%
Dividend yield(2)
    
2.9
%
    
2.9
%
    
2.7
%
Expected volatility(3)
    
49.5
%
    
40.7
%
    
42.4
%
Expected life in months(4)
  
56 months
    
59 months
    
60 months
  

(1)
The risk-free interest rate is based upon the rate on a zero-coupon U.S. Treasury bill, for periods within the contractual life of the option, in effect at the time of the grant.
(2)
The dividend yield is based on the average of historical stock prices and actual dividends paid.
(3)
Expected volatility is based on the historical volatility of the Company’s stock price, over a period similar to the expected life of the option.
(4)
The expected term of the option is based on the historical employee exercise behavior, the vesting terms of the respective option, and a contractual life of either seven or ten years.
Stock Options
Options under the plans as of December 31, 2021 and changes during the year ended December 31, 2021 were as follows:

 
Shares
(in thousands)
    
Weighted-
average
Exercise
Price
    
Weighted-
average
Remaining
Contractual
Term (in years)
    
Aggregate
Intrinsic
Value
(in thousands)
  
Options activity – service based
                        
Outstanding at December 31, 2020
    
770.6
    
$
38.71
              
Granted
    
—
      
—
              
Exercised
    
(188.8
)
    
37.74
              
Forfeited/cancelled/expired
    
(43.6
)
    
77.71
              
Outstanding at December 31, 2021
    
538.2
      
35.89
      
1.15
    
$
8,303
  
Exercisable at December 31, 2021
    
538.2
      
35.89
      
1.15
      
8,303
  
                                 
Options activity – performance based
                                
Outstanding at December 31, 2020
    
2,398.0
    
$
46.71
                  
Granted
    
877.9
      
41.68
                  
Exercised
    
(297.6
)
    
32.00
                  
Forfeited/cancelled/expired
    
(758.2
)
    
63.77
                  
Outstanding at December 31, 2021
    
2,220.1
      
40.87
      
4.62
    
$
27,353
  
Exercisable at December 31, 2021
    
974.6
      
40.39
      
3.59
      
13,361
  
                                 
Options activity – all options
                                
Outstanding at December 31, 2020
    
3,168.6
    
$
44.76
                  
Granted
    
877.9
      
41.68
                  
Exercised
    
(486.4
)
    
34.23
                  
Forfeited/cancelled/expired
    
(801.8
)
    
64.53
                  
Outstanding at December 31, 2021
    
2,758.3
      
39.90
      
3.95
    
$
35,657
  
Exercisable at December 31, 2021
    
1,512.8
      
38.79
      
2.72
      
21,665
  
Stock Options Exercised
Cash proceeds, tax benefits and intrinsic value related to total stock options exercised during 2021, 2020 and 2019, were as follows (U.S. dollars in thousands):

 
December 31,
  
   
2021
    
2020
    
2019
  
Cash proceeds from stock options exercised
  
$
14,435
    
$
7,419
    
$
368
  
Tax (expense) / benefit realized for stock options exercised
    
807
   
(459
)
    
430
  
Intrinsic value of stock options exercised
    
8,402
      
5,232
      
934
  
Nonvested Restricted Stock Awards
Nonvested restricted stock awards as of December 31, 2021 and changes during the year ended December 31, 2021 were as follows:

 
Number
of Shares
(in thousands)
    
Weighted-average
Grant Date
Fair Value
  
Nonvested at December 31, 2020
    
931.1
    
$
46.38
  
                 
Granted
    
380.4
      
50.39
  
Vested
    
(307.6
)
    
48.59
  
Forfeited
    
(119.0
)
    
45.95
  
                 
Nonvested at December 31, 2021
    
884.9
    
$
47.39