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Stock-Based Compensation Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based compensation plans |  |  |
Shares authorized for future grant | 1,125,344 |  |
Stock options |  |  |
Number of shares |  |  |
Outstanding at the beginning of the year (in shares) | 26,000 | 75,275 | 180,680
Exercised (in shares) | (20,000) | (48,275) | (98,405)
Expired or forfeited (in shares) |  | (1,000) | (7,000)
Outstanding at the end of the year (in shares) | 6,000 | 26,000 | 75,275
Exercisable at the end of the year (in shares) | 6,000 |  |
Weighted Average Exercise Price |  |  |
Outstanding at the beginning of the year, Weighted Average Exercise Price (in dollars per share) | $ 41.76 | $ 52.30 | $ 52.61
Exercised, Weighted Average Exercise Price (in dollars per share) | 40.80 | 57.91 | 52.41
Expired or forfeited, Weighted Average Exercise Price (in dollars per share) |  | 55.73 | 58.68
Outstanding at the end of the year, Weighted Average Exercise Price (in dollars per share) | 44.99 | $ 41.76 | $ 52.30
Exercisable at the end of the year, Weighted Average Exercise Price (in dollars per share) | $ 44.99 |  |
Weighted Average Remaining Contractual Term |  |  |
Weighted Average Remaining Contractual Term, stock options outstanding (in years) | 4 months 24 days |  |
Weighted Average Remaining Contractual Term, stock options exercisable (in years) | 4 months 24 days |  |
Aggregate Intrinsic Value |  |  |
Aggregate Intrinsic Value, options outstanding | $ 0.4 |  |
Aggregate Intrinsic Value, options exercisable | $ 0.4 |  |
Changes in non-vested stock options |  |  |
Non-vested | 0 | 0 |
Additional share-based compensation disclosures |  |  |
Proceed from option exercises | $ 0.8 | $ 2.8 | $ 5.2
Total intrinsic value of all options exercised | 1.0 | 1.6 | 2.8
Tax benefit realized from option and RSU exercises | $ 5.5 | $ 4.9 | $ 8.4
Stock options | Non-employee director |  |  |
Additional share-based compensation disclosures |  |  |
Vesting period (in years) | 1 year |  |
Options with ten-year term | Non-employee director |  |  |
Additional share-based compensation disclosures |  |  |
Vesting period (in years) | 10 years |  |

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