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Shareholders' Equity (Details)
12 Months Ended
Oct. 28, 2013
$ / shares
Feb. 29, 2012
$ / shares
Dec. 31, 2020
USD ($)
plans
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Dividends per share of common stock (in dollars per share) | $ / shares $ 0.20 $ 0.15 $ 0.80 $ 0.80 $ 0.80
Dividends payable     $ 5,775,000 $ 5,684,000 $ 5,626,000
Preferred stock, shares authorized (in shares) | shares     500,000 500,000  
Preferred stock, par value (in dollars per per share) | $ / shares     $ 0.01 $ 0.01  
Shares authorized under repurchase program     $ 200,000,000.0    
Total stock repurchased under plan, shares | shares     6,100,000    
Total stock repurchased under plan, value     $ 162,600,000    
Remaining authorized repurchase amount     $ 37,400,000    
Number of shares reserved for share-based compensation plans | shares     7,100,000    
Number of share-based compensation plans | plans     2    
Number of shares available for grant | shares     3,800,000    
Stock-based compensation     $ 13,111,000 $ 11,779,000 10,037,000
Tax benefit from stock-based compensation     3,200,000 2,800,000 2,300,000
Proceeds from stock options exercised     $ 13,700,000 $ 7,700,000 $ 3,500,000
Stock Options and Stock Appreciation Rights (SARs) [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period from date of grant (in years)     10 years    
Minimum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting term (in years)     4 years    
Maximum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting term (in years)     5 years