Shareholders' Equity and Share Based Payment (Details) - $ / shares	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	337,564
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Non-vested beginning balance	487,200	518,400	676,700
Granted	303,300	291,900	315,500
Cancelled	(16,700)	(16,800)	(4,200)
Vested	(344,900)	(306,300)	(469,600)
Non-vested ending balance	334,000.0	487,200	518,400
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments, Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Beginning Period, Weighted average grant date fair value	$ 21.30	$ 19.92	$ 17.84
Weighted average grant date fair value, Non-vested shares granted	19.46	21.88	22.41
Weighted average grant date fair value, Non-vested shares cancelled	21.21	21.27	20.36
Weighted average grant date fair value, Vested shares	20.85	19.52	18.60
Ending Period, Weighted average grant date fair value	$ 20.31	$ 21.30	$ 19.92
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number	(94,900)
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Accelerated in Period, Weighted Average Acceleration Date Fair Value	$ 32.01
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	0
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	675,128
TSR Performance Based Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum	24.80%	24.80%	29.40%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum	32.60%	32.60%	32.60%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate	1.40%	0.80%	0.80%
NumberofPerformanceBasedShares	168,784
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Non-vested beginning balance	277,057	199,941	143,414
Granted	362,681	169,631	107,426
Cancelled	(17,624)	(92,515)	0
Vested	(235,120)	0	(50,899)
Non-vested ending balance	222,184	277,057	199,941
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments, Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Beginning Period, Weighted average grant date fair value	$ 23.16	$ 25.09	$ 25.07
Weighted average grant date fair value, Non-vested shares granted	25.22	22.15	25.00
Weighted average grant date fair value, Non-vested shares cancelled	24.12	25.20	0
Weighted average grant date fair value, Vested shares	23.25	0	24.83
Ending Period, Weighted average grant date fair value	$ 23.12	$ 23.16	$ 25.09
Shares Expected to Vest	222,184
Grant date Fair Value for Shares Expected To Vest	$ 23.12
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate, Maximum	2.60%	2.60%	1.50%
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number	(164,810)
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Weighted Average Acceleration Date Fair Value	$ 32.01
TSR Performance Based Shares \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Range of Dividends Used	4.30%	4.30%	4.30%
NumberofPerformanceBasedShares	0
TSR Performance Based Shares \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Range of Dividends Used	5.50%	4.90%	4.30%
NumberofPerformanceBasedShares	337,568
Target AROE PSUs Granted [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	168,780
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Non-vested beginning balance	215,905	105,189	47,802
Granted	392,667	266,244	116,721
Cancelled	(14,363)	(26,006)	(1,697)
Vested	(188,740)	(129,522)	(57,637)
Non-vested ending balance	22,967	215,905	105,189
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments, Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]
Beginning Period, Weighted average grant date fair value	$ 19.47	$ 20.02	$ 19.18
Weighted average grant date fair value, Non-vested shares granted	30.32	19.65	20.37
Weighted average grant date fair value, Non-vested shares cancelled	18.95	19.99	20.55
Weighted average grant date fair value, Vested shares	19.67	20.14	20.02
Ending Period, Weighted average grant date fair value	$ 20.14	$ 19.47	$ 20.02
Shares Expected to Vest	22,967
Grant date Fair Value for Shares Expected To Vest	$ 20.14
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number	(382,502)
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Weighted Average Acceleration Date Fair Value	$ 32.01
Target AROE PSUs Granted [Member] \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	0
Target AROE PSUs Granted [Member] \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
NumberofPerformanceBasedShares	337,560
2019 [Member] \| Target AROE PSUs Granted [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Remaining Target AROE PSUs Future Grants	40,652	5,652
2020 [Member] \| Target AROE PSUs Granted [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Remaining Target AROE PSUs Future Grants	54,092	0

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Number of Performance Based Shares Awarded During Period-Target

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Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Weighted Average Acceleration Date Fair Value

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Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Accelerated in Period, Weighted Average Acceleration Date Fair Value

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Shares Expected to Vest

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

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The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Number of shares for which recognition of cost was accelerated for award under share-based payment arrangement.

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