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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, 2017
Dec. 31, 2016
Dec. 31, 2015
Options, Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 0 12 77
Granted (in shares) 0 0 0
Exercised (in shares) 0 (7) (54)
Restrictions lapsed (in shares) 0 0 0
Forfeited (in shares) 0 (5) (11)
Outstanding, Ending Balance (in shares) 0 0 12
Weighted Average Exercise Price Per Share:      
Outstanding Beginning Balance (usd per share) $ 0.00 $ 32.36 $ 29.22
Granted (usd per share) 0.00 0.00 0.00
Exercised (usd per share) 0.00 32.36 28.18
Restrictions lapsed (usd per share) 0.00 0.00 0.00
Forfeited (usd per share) 0.00 32.36 30.94
Outstanding Ending Balance (usd per share) $ 0.00 $ 0.00 $ 32.36
Restricted stock and stock units | Restricted Stock Plans without Market-Condition      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 1,243 1,052 1,165
Granted (in shares) 904 772 502
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (616) (545) (599)
Forfeited (in shares) (41) (36) (16)
Outstanding, Ending Balance (in shares) 1,490 1,243 1,052
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 43.78 $ 46.88 $ 36.47
Granted (usd per share) 47.86 38.47 58.14
Exercised (usd per share) 0.00 0.00 0.00
Restrictions lapsed (usd per share) 44.09 42.42 36.30
Forfeited (usd per share) 43.68 41.28 37.63
Outstanding Ending Balance (usd per share) $ 46.13 $ 43.78 $ 46.88
Restricted stock and stock units | Restricted Stock Plans with Market-Condition      
Number of Shares/Units:      
Number of Shares/Units, Outstanding Beginning Balance (in shares) 950 992 1,234
Granted (in shares) 50 358 257
Exercised (in shares) 0 0 0
Restrictions lapsed (in shares) (384) (364) (499)
Forfeited (in shares) 0 (36) 0
Outstanding, Ending Balance (in shares) 616 950 992
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 54.42 $ 52.89 $ 40.24
Granted (usd per share) 50.09 45.93 71.86
Exercised (usd per share) 0.00 0.00 0.00
Restrictions lapsed (usd per share) 50.09 43.04 31.41
Forfeited (usd per share) 0.00 43.04 0.00
Outstanding Ending Balance (usd per share) $ 56.76 $ 54.42 $ 52.89