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Stock Plans - Activity Under All Stock Plans and Weighted Average Exercise Prices (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Time Based Awards      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 1,085 1,160 1,243
Granted (in shares) 434 533 574
Restrictions lapsed (in shares) 557 568 616
Forfeited (in shares) (15) (40) (41)
Outstanding, Ending Balance (in shares) 947 1,085 1,160
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 50.24 $ 45.75 $ 43.78
Granted (usd per share) 66.66 57.16 48.10
Restrictions lapsed (usd per share) 50.29 47.62 44.09
Forfeited (usd per share) 53.85 49.10 43.68
Outstanding Ending Balance (usd per share) $ 57.67 $ 50.24 $ 45.75
Performance Based Awards with Market Conditions      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 358 616 950
Granted (in shares) 236 0 50
Restrictions lapsed (in shares) 338 129 384
Forfeited (in shares) (20) (129) 0
Outstanding, Ending Balance (in shares) 236 358 616
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 45.93 $ 56.76 $ 54.42
Granted (usd per share) 74.01 0 50.09
Restrictions lapsed (usd per share) 45.93 71.86 50.09
Forfeited (usd per share) 45.93 71.86 0
Outstanding Ending Balance (usd per share) $ 74.01 $ 45.93 $ 56.76
Performance Based Awards without Market Conditions      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 608 330 0
Granted (in shares) 0 278 330
Restrictions lapsed (in shares) 0 0 0
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 608 608 330
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 51.74 $ 47.45 $ 0
Granted (usd per share) 0 56.83 47.45
Restrictions lapsed (usd per share) 0 0 0
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 51.74 $ 51.74 $ 47.45
Total Awards with Performance Condition      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 966 946 950
Granted (in shares) 236 278 380
Restrictions lapsed (in shares) (338) (129) (384)
Forfeited (in shares) (20) (129) 0
Outstanding, Ending Balance (in shares) 844 966 946
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 49.58 $ 53.51 $ 54.42
Granted (usd per share) 74.01 56.83 47.80
Restrictions lapsed (usd per share) 45.93 71.86 50.09
Forfeited (usd per share) 45.93 71.86 0
Outstanding Ending Balance (usd per share) $ 57.97 $ 49.58 $ 53.51