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Accounting for Stock-based Compensation - Additional Information (Details)
$ / shares in Units, $ in Millions
12 Months Ended
Apr. 04, 2018
shares
Dec. 31, 2020
USD ($)
PerformancePeriod
$ / shares
shares
Dec. 31, 2019
USD ($)
PerformancePeriod
shares
Dec. 31, 2018
USD ($)
shares
Dec. 31, 2017
PerformancePeriod
shares
Dec. 31, 2015
PerformancePeriod
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term   3 years 9 months 18 days        
Share-based compensation arrangement by share-based payment award, award vesting period   3 years        
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term   2 years 3 months 18 days        
Share-based compensation arrangement by share-based payment award, options, exercisable, weighted average remaining contractual term   2 years 3 months 18 days        
Employee Stock Option            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, number of shares grants   0 0 0    
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term   10 years        
Share price | $ / shares   $ 74.33        
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $   $ 5.1 $ 4.9 $ 8.3    
Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share price | $ / shares   $ 74.33        
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 14.1 $ 7.2 $ 6.5    
Number of shares, granted   170,411 159,831 235,480    
Number of shares, vested   258,307 164,913 169,279    
Cash Settled RSUs            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share price | $ / shares   $ 74.33        
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $   $ 9.3 $ 7.2 $ 7.7    
Number of shares, granted   134,259 103,606 147,103    
Number of shares, vested   154,653 123,395 147,759    
Non-Employee Director Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares, granted       7,985    
Performance Shares            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share price | $ / shares   $ 74.33        
Number of performance period in performance based share program | PerformancePeriod   1 2   3 2
Percentage of multiplication award by product   2.00%        
Number of shares, granted   87,314 85,928 45,136 88,038  
Number of shares, vested   88,038 107,000 30,576    
Number of shares, granted, adjusted for partial performance periods         94,178  
Number of shares, expected to vest   94,178        
Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   0.00%        
Minimum | Employee Stock Option            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   3 years        
Minimum | Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   3 years        
Minimum | Cash Settled RSUs            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   3 years        
Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, fair value assumptions, expected forfeiture rate   17.75%        
Maximum | Employee Stock Option            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   4 years        
Maximum | Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   4 years        
Maximum | Cash Settled RSUs            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, award vesting period   4 years        
Omnibus Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation arrangement by share-based payment award, number of shares grants 1,600,000 90,742        
Share-based compensation arrangement by share-based payment award, number of additional awards   0        
Share-based compensation arrangement by share-based payment award, number of shares available for grant   1,107,968        
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average remaining contractual term   10 years        
Omnibus Plan | Non-Employee Director Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share price | $ / shares   $ 74.33        
Number of shares, granted   12,541 9,732 11,606    
Number of shares, vested   10,891 9,840 5,395