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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, 2016
Dec. 31, 2015
Dec. 31, 2014
Options, Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 12 77 632
Granted (in shares) 0 0 0
Exercised (in shares) (7) (54) (528)
Restrictions lapsed (in shares) 0 0 0
Forfeited (in shares) (5) (11) (27)
Outstanding, Ending Balance (in shares) 0 12 77
Weighted Average Exercise Price Per Share:      
Outstanding Beginning Balance (usd per share) $ 32.36 $ 29.22 $ 27.41
Granted (usd per share) 0.00 0.00 0.00
Exercised (usd per share) 32.36 28.18 27.12
Restrictions lapsed (usd per share) 0.00 0.00 0.00
Forfeited (usd per share) 32.36 30.94 27.83
Outstanding Ending Balance (usd per share) $ 0.00 $ 32.36 $ 29.22
Restricted stock and stock units | Without Market Conditions      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 1,052 1,165 1,317
Granted (in shares) 772 502 585
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (545) (599) (712)
Forfeited (in shares) (36) (16) (25)
Outstanding, Ending Balance (in shares) 1,243 1,052 1,165
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 46.88 $ 36.47 $ 31.68
Granted (usd per share) 38.47 58.14 41.60
Exercised (usd per share) 0.00 0.00 0.00
Restrictions lapsed (usd per share) 42.42 36.30 31.96
Forfeited (usd per share) 41.28 37.63 32.82
Outstanding Ending Balance (usd per share) $ 43.78 $ 46.88 $ 36.47
Restricted stock and stock units | With Market Conditions      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 992 1,234 899
Granted (in shares) 358 257 335
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (364) (499) 0
Forfeited (in shares) (36) 0 0
Outstanding, Ending Balance (in shares) 950 992 1,234
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 52.89 $ 40.24 $ 36.58
Granted (usd per share) 45.93 71.86 50.09
Exercised (usd per share) 0.00 0.00 0.00
Restrictions lapsed (usd per share) 43.04 31.41 0.00
Forfeited (usd per share) 43.04 0.00 0.00
Outstanding Ending Balance (usd per share) $ 54.42 $ 52.89 $ 40.24