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Stock Plans and Share-Based Compensation - Weighted Average Assumptions (Details) - Performance Units
6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Annual dividend yield   1.40%
Risk-free interest rate 1.40% 2.50%
Annualized volatility 24.50% 27.60%
Expected life (in years) 2 years 10 months 24 days 2 years 10 months 24 days