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Share-Based Compensation Plans - Schedule of activity of stock options and awards of shares and stock units (Details) - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Shares, Beginning Balance	20,000	40,000	93,000
Weighted Average Price, Beginning Balance (in dollars per share)	$ 24.48	$ 24.48	$ 24.48
Shares, Granted	0	0	0
Weighted Average Price, Granted (in dollars per share)	$ 0	$ 0	$ 0
Shares, Expired	0	0	0
Weighted Average Price, Expired (in dollars per share)	$ 0	$ 0	$ 0
Shares, Exercised	(20,000)	(20,000)	(53,000)
Weighted Average Price, Exercised (in dollars per share)	$ 24.48	$ 24.48	$ 24.48
Shares, Ending Balance	0	20,000	40,000
Weighted Average Price, Ending Balance (in dollars per share)	$ 0	$ 24.48	$ 24.48
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Shares, Beginning Balance	417,578	476,586	508,872
Weighted Average Price, Beginning Balance (in dollars per share)	$ 70.24	$ 63.52	$ 54.13
Shares, Granted	137,771	169,766	135,259
Weighted Average Price, Granted (in dollars per share)	$ 81.56	$ 64.34	$ 80.37
Shares, Forfeited	(984)	(2,545)	(1,250)
Weighted Average Price, Forfeited (in dollars per share)	$ 79.17	$ 71.88	$ 71.27
Shares, Vested	(156,447)	(226,229)	(166,295)
Weighted Average Price, Vested (in dollars per share)	$ 72.72	$ 51.64	$ 48.44
Shares, Ending Balance	397,918	417,578	476,586
Weighted Average Price, Ending Balance (in dollars per share)	$ 73.16	$ 70.24	$ 63.52

X

- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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Net number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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