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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, 2018
Dec. 31, 2017
Dec. 31, 2016
Options, Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 0 0 12
Granted (in shares) 0 0 0
Exercised (in shares)     (7)
Restrictions lapsed (in shares) 0 0 0
Forfeited (in shares) 0 0 (5)
Outstanding, Ending Balance (in shares) 0 0 0
Weighted Average Exercise Price Per Share:      
Outstanding Beginning Balance (usd per share) $ 0.00 $ 0.00 $ 32.36
Granted (usd per share) 0.00 0.00 0.00
Exercised (usd per share)     32.36
Restrictions lapsed (usd per share) 0.00 0.00 0.00
Forfeited (usd per share) 0.00 0.00 32.36
Outstanding Ending Balance (usd per share) $ 0.00 $ 0.00 $ 0.00
Restricted stock and stock units | Restricted Stock Plans without Market-Condition      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 1,490 1,243 1,052
Granted (in shares) 811 904 772
Exercised (in shares)     0
Restrictions lapsed (in shares) (568) (616) (545)
Forfeited (in shares) (40) (41) (36)
Outstanding, Ending Balance (in shares) 1,693 1,490 1,243
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 46.13 $ 43.78 $ 46.88
Granted (usd per share) 57.04 47.86 38.47
Exercised (usd per share)     0.00
Restrictions lapsed (usd per share) 47.62 44.09 42.42
Forfeited (usd per share) 49.10 43.68 41.28
Outstanding Ending Balance (usd per share) $ 50.78 $ 46.13 $ 43.78
Restricted stock and stock units | Restricted Stock Plans with Market-Condition      
Number of Shares/Units:      
Outstanding Beginning Balance (in shares) 616 950 992
Granted (in shares) 0 50 358
Exercised (in shares)     0
Restrictions lapsed (in shares) (129) (384) (364)
Forfeited (in shares) (129) 0 (36)
Outstanding, Ending Balance (in shares) 358 616 950
Weighted Average Grant Date Fair Value:      
Outstanding Beginning Balance (usd per share) $ 56.76 $ 54.42 $ 52.89
Granted (usd per share) 0.00 50.09 45.93
Exercised (usd per share)     0.00
Restrictions lapsed (usd per share) 71.86 50.09 43.04
Forfeited (usd per share) 71.86 0.00 43.04
Outstanding Ending Balance (usd per share) $ 45.93 $ 56.76 $ 54.42