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Stock-Based Compensation - Fair Value Assumptions (Details) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2019 USD ($) item $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares | Dec. 31, 2017 USD ($) $ / shares
Fair value assumptions: |  |  |
Expected term |  | 5 years 3 months 18 days | 5 years 3 months 18 days
Additional information |  |  |
Allocated Share-based Compensation Expense | $ | $ 5.9 | $ 7.2 | $ 6.4
Stock Options |  |  |
Stock-Based Compensation |  |  |
Weighted-average fair value per share of options granted (in dollars per share) |  | $ 13.06 | $ 11.43
Fair value assumptions: |  |  |
Expected dividend yield (as a percent) |  | 0.79% | 0.89%
Expected stock price volatility (as a percent) |  | 31.70% | 34.50%
Risk-free interest rate (as a percent) |  | 2.66% | 2.11%
Other information |  |  |
Compensation expense yet to be recognized | $ | $ 0.1 |  |
Weighted-average period over which compensation cost will be recognized | 1 year |  |
Total fair value of options vested | $ | $ 0.9 |  |
Nonvested Options, Shares |  |  |
Nonvested at beginning of year (in shares) | shares | 163 |  |
Vested (in shares) | shares | (82) |  |
Nonvested at end of year (in shares) | shares | 81 | 163 |
Nonvested Options, Weighted-Average Grant Date Fair Value |  |  |
Nonvested at beginning of year (in dollars per share) | $ 11.99 |  |
Granted (in dollars per share) |  | $ 13.06 | $ 11.43
Vested (in dollars per share) | 11.46 |  |
Nonvested at end of year (in dollars per share) | $ 12.53 | $ 11.99 |
Additional information |  |  |
Vesting period | 3 years |  |
Restricted Stock and Restricted Stock Units |  |  |
Other information |  |  |
Compensation expense yet to be recognized | $ | $ 0.9 |  |
Weighted-average period over which compensation cost will be recognized | 1 year 10 months 24 days |  |
Shares |  |  |
Unvested at beginning of year (in shares) | shares | 78 |  |
Granted (in shares) | shares | 87 |  |
Vested (in shares) | shares | (69) |  |
Forfeited (in shares) | shares | (5) |  |
Unvested at end of year (in shares) | shares | 91 | 78 |
Weighted Average Grant Date Fair Value |  |  |
Unvested at beginning of year (in dollars per share) | $ 38.17 |  |
Granted (in dollars per share) | 51.02 | $ 44.02 | 35.69
Vested (in dollars per share) | 41.58 |  |
Forfeited (in dollars per share) | 44.01 |  |
Unvested at end of year (in dollars per share) | $ 47.58 | 38.17 |
Additional information |  |  |
Fair value of shares vested | $ | $ 2.9 |  |
Weighted-average fair value (in dollars per share) | $ 51.02 | $ 44.02 | $ 35.69
Aggregate intrinsic value of restricted stock vested | $ | $ 3.5 | $ 3.3 | $ 3.2
Performance Stock Units |  |  |
Other information |  |  |
Compensation expense yet to be recognized | $ | $ 0.4 |  |
Weighted-average period over which compensation cost will be recognized | 1 year 4 months 24 days |  |
Additional information |  |  |
Vesting period | 3 years |  |
Types of performance units | item | 2 |  |
Percentage of units measured on stock price relative to peer group | 50.00% |  |
Percentage of units measured on stock price based on pre determined EPS | 50.00% |  |
Period for which shareholder return is compared with peer group for units determined by EPS performance | 3 years |  |
Calculated fair market value | $ | $ 5.0 |  |
Value of PSUs granted | $ | 1.9 |  |
Allocated Share-based Compensation Expense | $ | $ 1.9 | $ 2.9 | $ 2.6
Performance Stock Units | Minimum |  |  |
Additional information |  |  |
Performance measures for dollar denominated award granted | 0 |  |
Performance Stock Units | Maximum |  |  |
Additional information |  |  |
Performance measures for dollar denominated award granted | 2.0 |  |

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- Definition 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). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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