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Share-Based Compensation Plans (Tables)
 12 Months Ended
Dec. 31, 2017
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of Share-based Compensation, Restricted Stock Units Award Activity
The RSU awards vest ratably over 3 years. RSU activity for the year ended December 31, 2017 is as follows:

(in thousands, except weighted average fair value prices)
Number of Shares
 
Weighted Average Grant-Date Fair Value
Unvested RSUs outstanding at December 31, 2016
1,555

 
$
34.14

RSUs granted
708

 
$
40.32

RSUs vested
(884
)
 
$
34.25

RSUs forfeited
(70
)
 
$
36.29

Unvested RSUs outstanding at December 31, 2017
1,309

 
$
37.54
Schedule of Share-based Payment Award, Performance-Based Units, Valuation Assumptions [Table Text Block]
The fair values of the 2017, 2016, and 2015 awards were estimated using Monte-Carlo simulation with the following weighted-average assumptions:

 
 
2017
 
2016
 
2015
 
 
 
 
 
 
 
Expected dividend yield
 
—
%
 
—
 %
 
—
%
Risk-free interest rate (1)
 
1.47
%
 
0.99
 %
 
0.93
%
Expected volatility (2)
 
27.83
%
 
25.12
 %
 
24.01
%
Average total shareholder return (2)
 
1.46
%
 
(1.23
)%
 
8.37
%

(1)
The risk-free interest rate for the periods within the contractual term of the PBRSUs is based on the U.S. Treasury yield curve in effect at the time of the grant.
(2)
The expected volatility and average total shareholder return is a measure of the amount by which a stock price has fluctuated or is expected to fluctuate based primarily on our and our peers' historical data.
Schedule of Share-based Compensation, Performance Based Restricted Stock Units Award Activity
PBRSU activity for the year ended December 31, 2017 is as follows:

(in thousands, except weighted average fair value prices)
Number of Shares
 
Weighted Average Grant-Date Fair Value
Unvested PBRSUs outstanding at December 31, 2016
738

 
$
34.13

PBRSUs granted
310

 
$
41.08

PBRSUs vested
(227
)
 
$
31.90

PBRSUs forfeited
(162
)
 
$
36.48

Unvested PBRSUs outstanding at December 31, 2017
659

 
$
37.22
Schedule of Share-based Compensation, Stock Options Activity
Option activity for the year ended December 31, 2017 is as follows:

(in thousands, except weighted average prices)
Number of Shares
 
Weighted Average Exercise Price
 
Weighted Average Remaining Contractual Term
 
Aggregate Intrinsic Value
Options outstanding at December 31, 2016
1,504

 
$
21.22

 
 
 
 
Options exercised
(318
)
 
$
23.25

 
 
 
 
Options vested, exercisable, and outstanding December 31, 2017
1,186

 
$
20.67

 
2.3
 
$
30,295
Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan
The following table sets forth the share-based compensation expense recognized for the years ended December 31, 2017, 2016 and 2015:

(in thousands)
2017
 
2016
 
2015
Restricted stock units
$
29,188

 
$
25,839

 
$
24,591

Performance-based restricted stock units
4,987

 
11,702

 
8,080

Stock options
144

 
1,017

 
1,923

Employee stock purchase plan
1,548

 
1,291

 
1,192

 
$
35,867

 
$
39,849

 
$
35,786