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Stock-Based Compensation - Assumptions Used to Determine Grant Date Fair Value of Equity and Liability Component (Details) - TSR Performance Share Awards - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stockholders' Equity      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Fair value per performance share award granted during the period $ 20.63 $ 19.92 $ 19.85
Stock price volatility 31.30% 37.30% 37.80%
Risk free rate of return 2.50% 2.40% 1.40%
Liability      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock price volatility, minimum rate 29.80% 29.90% 29.10%
Stock price volatility, maximum rate 30.40% 31.10% 36.70%
Risk free rate of return 1.60%    
Risk free rate of return, minimum rate   2.50% 1.80%
Risk free rate of return, maximum rate   2.60% 1.90%
Minimum | Liability      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Fair value per performance share award granted during the period $ 6.18 $ 15.15 $ 13.23
Maximum | Liability      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Fair value per performance share award granted during the period $ 14.80 $ 20.12 $ 21.64