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Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Awarded share Outstanding ending balance | 909,828 |  |
Performance Stock Plan |  |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Weighted-average grant date fair value Outstanding beginning balance | $ 5.00 | $ 5.03 | $ 5.16
Weighted-average grant date fair value Vested | 6.06 | 5.29 | 5.53
Weighted-average grant date fair value Forfeited | 5.03 | 4.74 | 4.92
Weighted-average grant date fair value Outstanding ending balance | $ 4.86 | $ 5.00 | $ 5.03
Granted Share Outstanding Beginning Balance | 1,051,292 | 1,196,092 | 1,694,476
Granted Share Vested | (119,072) | (115,040) | (453,860)
Granted Share Forfeited | (22,392) | (29,760) | (44,524)
Granted Share Outstanding Ending Balance | 909,828 | 1,051,292 | 1,196,092
Awarded share Outstanding beginning balance | 1,051,292 | 1,196,092 | 1,694,476
Awarded share Vested | (119,072) | (115,040) | (453,860)
Awarded share Forfeited | (22,392) | (29,760) | (44,524)
Awarded share Outstanding ending balance | 909,828 | 1,051,292 | 1,196,092
2010 SIP and 2019 SIP |  |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Weighted-average grant date fair value Outstanding beginning balance | $ 18.10 | $ 16.69 | $ 15.58
Weighted-average grant date fair value Granted | 46.58 | 28.53 | 22.87
Weighted-average grant date fair value Awarded | 19.71 | 17.26 | 15.89
Weighted-average grant date fair value Vested | 15.97 | 14.29 | 14.09
Weighted-average grant date fair value Forfeited | 20.75 | 19.09 | 16.37
Weighted-average grant date fair value Outstanding ending balance | $ 19.89 | $ 18.10 | $ 16.69
Granted Share Outstanding Beginning Balance | 11,641,918 | 11,102,375 | 12,821,990
Granted Share Granted | 970,997 | 1,812,047 | 1,577,721
Granted Share Awarded | 497,082 | 299,339 |
Granted Share Vested | (3,059,619) | (1,068,211) | (933,916)
Granted Share Forfeited | (356,041) | (503,632) | (2,363,420)
Granted Share Outstanding Ending Balance | 9,694,337 | 11,641,918 | 11,102,375
Awarded share Outstanding beginning balance | 8,070,576 | 6,595,319 | 4,809,604
Awarded shares Granted | 148,015 | 797,778 | 454,313
Awarded share Awarded | 1,880,512 | 1,954,983 | 2,489,905
Awarded share Vested | (3,059,619) | (1,068,211) | (933,916)
Awarded share Forfeited | (119,637) | (209,293) | (224,587)
Awarded share Outstanding ending balance | 6,919,847 | 8,070,576 | 6,595,319
Shares not yet awarded Outstanding beginning balance | 3,571,342 | 4,507,056 | 8,012,386
Shares not yet awarded Granted | 822,982 | 1,014,269 | 1,123,408
Shares not yet awarded Awarded | (1,383,430) | (1,655,644) | (2,489,905)
Shares not yet awarded Forfeited | (236,404) | (294,339) | (2,138,833)
Shares not yet awarded Outstanding ending balance | 2,774,490 | 3,571,342 | 4,507,056

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