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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($)
$ / shares in Units, shares in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock-based compensation      
Unrecognized compensation cost related to stock options $ 34,500,000    
Stock-based compensation expense      
Total stock-based compensation cost 33,500,000 $ 30,200,000 $ 30,700,000
Capitalized cost during the period (9,300,000) (3,500,000) (9,000,000.0)
Amortization of capitalized cost during the period 14,300,000 1,200,000 6,700,000
Total stock-based compensation expense 38,500,000 27,900,000 28,400,000
Income tax benefit 25,200,000 $ 8,800,000 11,900,000
Unrecognized compensation cost related to awards other than options $ 34,500,000    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 6 months    
Executive Incentive Program      
Stock-based compensation      
Shares reserved for grant under the plan (in shares) 4,200    
Shares available for grant under the plan (in shares) 1,100    
Stock options - annual equity grant      
Stock-based compensation      
Stock options granted (in shares) 362    
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 1.40% 1.30%  
Expected life in years 4 years 10 months 24 days 4 years 9 months 18 days  
Expected volatility (as a percent) 28.70% 21.90%  
Risk-free interest rate (as a percent) 0.40% 1.40%  
Weighted average grant date fair value (in dollars per share) $ 32.51 $ 29.29  
Fair value of equity awards granted $ 11,800,000 $ 11,600,000  
Stock option awards      
Stock-based compensation      
Stock options granted (in shares) 362    
Unrecognized compensation cost related to stock options $ 5,600,000    
Stock-based compensation expense      
Total stock-based compensation cost $ 9,500,000 10,400,000 $ 9,900,000
Vesting period 3 years    
Maximum term life 10 years    
Unrecognized compensation cost related to awards other than options $ 5,600,000    
Stock options, one-time grant      
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent)     1.60%
Expected life in years     4 years 10 months 24 days
Expected volatility (as a percent)     21.30%
Risk-free interest rate (as a percent)     2.50%
Weighted average grant date fair value (in dollars per share)     $ 21.07
Fair value of equity awards granted     $ 9,700,000
Q2 2018 Stock option and stock appreciation right grant      
Stock-based compensation expense      
Total stock-based compensation cost 9,500,000 4,000,000 9,800,000
Capitalized cost during the period 0 (4,900,000)  
Stock appreciation rights      
Stock-based compensation expense      
Total stock-based compensation cost $ 9,000,000.0 2,400,000 7,100,000
Restricted stock awards      
Stock-based compensation      
Awards granted (in shares) 72    
Unrecognized compensation cost related to stock options $ 8,000,000    
Stock-based compensation expense      
Total stock-based compensation cost $ 7,300,000 8,600,000 6,900,000
Vesting period 3 years    
Unrecognized compensation cost related to awards other than options $ 8,000,000    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 9 months 18 days    
Performance share awards      
Stock-based compensation      
Awards granted (in shares) 54    
Unrecognized compensation cost related to stock options $ 8,800,000    
Stock-based compensation expense      
Total stock-based compensation cost $ 7,700,000 $ 7,400,000 $ 5,500,000
Vesting period 3 years    
Unrecognized compensation cost related to awards other than options $ 8,800,000    
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards 1 year 9 months 18 days    
Restricted stock units      
Stock-based compensation      
Awards granted (in shares)   8 12
Stock-based compensation expense      
Total stock-based compensation cost $ 0 $ 1,400,000 $ 1,300,000