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Summary of Significant Accounting Policies Stock Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share contractual period 10 years      
Number of shares available for future issuances 8,800,000      
Maximum Number of Common Stock Shares Available Under 2016 Stock Option Plan 15,000,000.0      
Award vesting rate, within one year of grant date 10.00%      
Award vesting rate, between year one and year two 15.00%      
Award vesting rate, between year two and year three 20.00%      
Award vesting rate, between year three and year four 25.00%      
Award vesting rate, between year four and year five 30.00%      
Expected volatility 18.00% 20.00% 22.00%  
Share-based compensation expense $ 3.7 $ 3.8 $ 3.5  
Income tax benefit $ 0.7 $ 0.8 $ 1.2  
Expected dividends 4.10% 4.03% 3.97%  
Expected term (in years) 7 years 7 years 7 years  
Risk-free rate 2.54% 2.81% 2.29%  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at beginning of year 7,163,567 6,565,019 8,243,025  
Granted 1,777,500 1,539,500 1,403,500  
Exercised 848,923 881,917 1,337,881  
Forfeited and canceled 82,907 59,035 1,743,625  
Options, outstanding at end of year 8,009,237 7,163,567 6,565,019  
Exercisable at end of year 5,100,009 4,556,350 4,228,259  
Options, outstanding, weighted average exercise price $ 18.43 $ 17.24 $ 15.76 $ 15.77
Granted, Weighted Average Exercise Price 21.14 20.98 19.98  
Exercised, Weighted Average Exercise Price 14.14 12.86 12.65  
Forfeited and canceled, Weighted Average Exercise Price 17.05 16.54 21.60  
Exercisable at end of year, Weighted Average Exercise Price 17.18 15.83 14.42  
Weighted average fair value of options granted during the year [1] $ 2.35 $ 2.71 $ 2.81  
Total unrecognized compensation cost $ 3.2      
Unrecognized stock compensation costs, weighted average remaining contractual term 3 years      
Cash received from stock option exercise $ 12.0 $ 11.3 $ 16.9  
Intrinsic value of stock options exercised 6.8 7.5 10.5  
Actual tax benefit realized for tax deductions from stock options exercised $ 1.4 $ 1.5 $ 3.6  
Restricted Stock [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Restricted common stock vesting period 3 years      
Range of Exercise Prices, $12.08 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 69,910      
Exercisable at end of year 69,910      
Options, outstanding, weighted average exercise price $ 12.08      
Exercisable at end of year, Weighted Average Exercise Price $ 12.08      
Options, Outstanding, Weighted Average Remaining Contractual Life 3 months      
Range of Exercise Prices, $12.33 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 242,870      
Exercisable at end of year 242,870      
Options, outstanding, weighted average exercise price $ 12.33      
Exercisable at end of year, Weighted Average Exercise Price $ 12.33      
Options, Outstanding, Weighted Average Remaining Contractual Life 1 year 3 months      
Range of Exercise Prices, $10.80 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 305,867      
Exercisable at end of year 305,867      
Options, outstanding, weighted average exercise price $ 10.80      
Exercisable at end of year, Weighted Average Exercise Price $ 10.80      
Options, Outstanding, Weighted Average Remaining Contractual Life 2 years 3 months      
Range of Exercise Prices, $12.57 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 395,663      
Exercisable at end of year 395,663      
Options, outstanding, weighted average exercise price $ 12.57      
Exercisable at end of year, Weighted Average Exercise Price $ 12.57      
Options, Outstanding, Weighted Average Remaining Contractual Life 3 years 3 months      
Range of Exercise Prices, $16.06 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 646,252      
Exercisable at end of year 646,252      
Options, outstanding, weighted average exercise price $ 16.06      
Exercisable at end of year, Weighted Average Exercise Price $ 16.06      
Options, Outstanding, Weighted Average Remaining Contractual Life 4 years 3 months      
Range of Exercise Prices, $15.26 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 712,408      
Exercisable at end of year 712,408      
Options, outstanding, weighted average exercise price $ 15.26      
Exercisable at end of year, Weighted Average Exercise Price $ 15.26      
Options, Outstanding, Weighted Average Remaining Contractual Life 5 years 3 months      
Range of Exercise Prices, $18.14 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 1,049,953      
Exercisable at end of year 802,281      
Options, outstanding, weighted average exercise price $ 18.14      
Exercisable at end of year, Weighted Average Exercise Price $ 18.14      
Options, Outstanding, Weighted Average Remaining Contractual Life 6 years 3 months      
Range of Exercise Prices, $19.98 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 1,297,309      
Exercisable at end of year 763,024      
Options, outstanding, weighted average exercise price $ 19.98      
Exercisable at end of year, Weighted Average Exercise Price $ 19.98      
Options, Outstanding, Weighted Average Remaining Contractual Life 7 years 3 months      
Range of Exercise Prices, $20.98 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 1,514,505      
Exercisable at end of year 623,406      
Options, outstanding, weighted average exercise price $ 20.98      
Exercisable at end of year, Weighted Average Exercise Price $ 20.98      
Options, Outstanding, Weighted Average Remaining Contractual Life 8 years 3 months      
Range of Exercise Prices, $21.12 to $21.99 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Options, outstanding at end of year 1,774,500      
Exercisable at end of year 538,328      
Options, outstanding, weighted average exercise price $ 21.14      
Exercisable at end of year, Weighted Average Exercise Price $ 21.13      
Options, Outstanding, Weighted Average Remaining Contractual Life 9 years 3 months      
[1] Based on the Black-Scholes option pricing model and the assumptions outlined above.