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Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Stock-Based Compensation |  |  |
Stock-based compensation expense | $ 5.9 | $ 7.2 | $ 6.4
Income tax benefit | $ 1.3 | $ 1.5 | 2.4
Minimum |  |  |
Stock-Based Compensation |  |  |
Sum of age and years of service for accelerated vesting on retirement of certain stock options and restricted stock awards | 75 years |  |
Stock Options |  |  |
Stock-Based Compensation |  |  |
Vesting period | 3 years |  |
Shares |  |  |
Outstanding at beginning of year (in shares) | 499 |  |
Exercised (in shares) | (114) |  |
Expired (in shares) | (3) |  |
Outstanding at end of year (in shares) | 382 | 499 |
Options exercisable at end of year (in shares) | 301 |  |
Weighted-Average Exercise Price |  |  |
Outstanding at beginning of year (in dollars per share) | $ 25.65 |  |
Exercised (in dollars per share) | 20.57 |  |
Expired (in dollars per share) | 42.50 |  |
Outstanding at end of year (in dollars per share) | $ 27.06 | $ 25.65 |
Other information |  |  |
Intrinsic value of options exercised | $ 3.5 | $ 6.7 | $ 3.6
Weighted-average remaining contractual term of options exercisable | 5 years 3 months 18 days |  |
Aggregate intrinsic value of options exercisable | $ 8.0 |  |
Number of options that are vested and expected to vest (in shares) | 400 |  |
Weighted average exercise price of options that are vested and expected to vest (in dollars per share) | $ 27.06 |  |
Weighted-average remaining contractual term of options that are vested and expected to vest | 5 years 9 months 18 days |  |
Aggregate intrinsic value of options that are vested and expected to vest | $ 8.7 |  |

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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