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Equity Incentive Program (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Stock-based compensation expense [Abstract] |  |  |  |
Pre-tax stock-based compensation expense | $ 7,371 | $ 7,876 | $ 15,591 | $ 24,493
Tax benefit | (854) | (489) | (1,822) | (2,035)
Total stock-based compensation expense, net of tax | $ 6,517 | $ 7,387 | $ 13,769 | $ 22,458
Stock Appreciation Rights (SARs) [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Equity awards issued during period (in shares) |  |  | 390,780 |
Risk-free interest rate (in hundredths) |  |  | 1.44% | 2.51%
Dividend yield (in hundredths) |  |  | 1.65% | 2.13%
Expected life (in years) |  |  | 5 years 6 months | 5 years 7 months 6 days
Volatility (in hundredths) |  |  | 22.76% | 22.35%
Grant price (in dollars per share) |  |  | $ 119.86 | $ 91.20
Fair value at date of grant (in dollars per share) |  |  | $ 22.54 | 17.55
Restricted Stock Units (RSUs) [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Equity awards issued during period (in shares) |  |  | 83,512 |
Performance Shares [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Equity awards issued during period (in shares) |  |  | 49,056 |
Risk-free interest rate (in hundredths) |  |  | 1.40% |
Dividend yield (in hundredths) |  |  | 1.65% |
Expected life (in years) |  |  | 2 years 10 months 24 days |
Volatility (in hundredths) |  |  | 23.30% |
Grant price (in dollars per share) |  |  | $ 119.86 |
Fair value at date of grant (in dollars per share) |  |  | $ 165.71 | $ 91.20
Performance share attainment |  |  |  | 168.96%

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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 (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + 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 (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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