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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, 2015
Dec. 31, 2014
Dec. 31, 2013
Options, Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 77 632 2,091
Granted (in shares) 0 0 0
Exercised (in shares) (54) (528) (1,397)
Restrictions lapsed (in shares) 0 0 0
Forfeited (in shares) (11) (27) (62)
Outstanding, Ending Balance (in shares) 12 77 632
Weighted Average Exercise Price Per Share:      
Outstanding Beginning Balance (in USD per share) $ 29.22 $ 27.41 $ 24.80
Granted (in USD per share) 0.00 0.00 0.00
Exercised (in USD per share) 28.18 27.12 23.82
Restrictions lapsed (in USD per share) 0.00 0.00 0.00
Forfeited (in USD per share) 30.94 27.83 20.48
Outstanding Ending Balance (in USD per share) $ 32.36 $ 29.22 $ 27.41
Restricted stock and stock units | Without Market Conditions      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 1,165 1,317 1,737
Granted (in shares) 502 585 688
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (599) (712) (1,087)
Forfeited (in shares) (16) (25) (21)
Outstanding, Ending Balance (in shares) 1,052 1,165 1,317
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (in USD per share) $ 36.47 $ 31.68 $ 28.25
Granted (in USD per share) 58.14 41.60 35.34
Exercised (in USD per share) 0.00 0.00 0.00
Restrictions lapsed (in USD per share) 36.30 31.96 28.53
Forfeited (in USD per share) 37.63 32.82 31.29
Outstanding Ending Balance (in USD per share) $ 46.88 $ 36.47 $ 31.68
Restricted stock and stock units | With Market Conditions      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 1,234 899 758
Granted (in shares) 257 335 400
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (499) 0 (259)
Forfeited (in shares) 0 0 0
Outstanding, Ending Balance (in shares) 992 1,234 899
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (in USD per share) $ 40.24 $ 36.58 $ 30.77
Granted (in USD per share) 71.86 50.09 42.04
Exercised (in USD per share) 0.00 0.00 0.00
Restrictions lapsed (in USD per share) 31.41 0.00 29.53
Forfeited (in USD per share) 0.00 0.00 0.00
Outstanding Ending Balance (in USD per share) $ 52.89 $ 40.24 $ 36.58