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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, 2020
Dec. 31, 2019
Dec. 31, 2018
Non-Executive Officer Time Based Awards      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 947 1,085 1,160
Granted (in shares) 625 434 533
Restrictions lapsed (in shares) (526) (557) (568)
Forfeited (in shares) (26) (15) (40)
Outstanding, Ending Balance (in shares) 1,020 947 1,085
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 57.67 $ 50.24 $ 45.75
Granted (usd per share) 54.92 66.66 57.16
Restrictions lapsed (usd per share) 54.57 50.29 47.62
Forfeited (usd per share) 58.37 53.85 49.10
Outstanding Ending Balance (usd per share) $ 57.57 $ 57.67 $ 50.24
Performance Based Awards with Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 236 358 616
Granted (in shares) 223 236 0
Restrictions lapsed (in shares)   (338) (129)
Forfeited (in shares)   (20) (129)
Outstanding, Ending Balance (in shares) 459 236 358
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 74.01 $ 45.93 $ 56.76
Granted (usd per share) 66.86 74.01 0
Restrictions lapsed (usd per share) 0 45.93 71.86
Forfeited (usd per share) 0 45.93 71.86
Outstanding Ending Balance (usd per share) $ 70.53 $ 74.01 $ 45.93
Performance Based Awards without Market Conditions      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 608 608 330
Granted (in shares) 70 0 278
Restrictions lapsed (in shares) (400) 0 0
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 278 608 608
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 51.74 $ 51.74 $ 47.45
Granted (usd per share) 47.45 0 56.83
Restrictions lapsed (usd per share) 47.45 0 0
Forfeited (usd per share) 0 0 0
Outstanding Ending Balance (usd per share) $ 56.83 $ 51.74 $ 51.74
Total Awards with Performance Condition      
Number of Shares/ Units      
Outstanding Beginning Balance (in shares) 844 966 946
Granted (in shares) 293 236 278
Restrictions lapsed (in shares) (400) (338) (129)
Forfeited (in shares) 0 (20) (129)
Outstanding, Ending Balance (in shares) 737 844 966
Weighted Average Grant Date Fair Value      
Outstanding Beginning Balance (usd per share) $ 57.97 $ 49.58 $ 53.51
Granted (usd per share) 62.22 74.01 56.83
Restrictions lapsed (usd per share) 47.45 45.93 71.86
Forfeited (usd per share) 0 45.93 71.86
Outstanding Ending Balance (usd per share) $ 65.36 $ 57.97 $ 49.58