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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Stock-based compensation |  |  |
Unrecognized compensation cost related to stock options | $ 25.4 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | 34.1 | $ 27.5 | $ 20.7
Income tax benefit | $ 12.9 | 10.6 | 12.5
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 4 months 24 days |  |
Executive Incentive Program |  |  |
Stock-based compensation |  |  |
Shares reserved for grant under the plan (in shares) | 4,200,000 |  |
Shares available for grant under the plan (in shares) | 1,500,000 |  |
Stock options - annual equity grant |  |  |
Stock-based compensation |  |  |
Stock options granted (in shares) | 460,000 |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.60% |  |
Expected life in years | 4 years 10 months 24 days |  |
Expected volatility (as a percent) | 21.30% |  |
Risk-free interest rate (as a percent) | 2.50% |  |
Weighted average grant date fair value (in dollars per share) | $ 21.07 |  |
Fair value of equity awards granted | $ 9.7 |  |
Stock options, one-time grant |  |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.40% |  |
Expected life in years | 3 years 10 months 24 days |  |
Expected volatility (as a percent) | 20.70% |  |
Risk-free interest rate (as a percent) | 2.60% |  |
Weighted average grant date fair value (in dollars per share) | $ 21.91 |  |
Fair value of equity awards granted | $ 13.6 |  |
Stock option awards |  |  |
Stock-based compensation |  |  |
Stock options granted (in shares) | 460,000 |  |
Unrecognized compensation cost related to stock options | $ 9.8 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 10.8 | $ 11.0 | $ 7.7
Maximum term life | 10 years |  |
Vesting period | 3 years |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) |  | 1.40% | 1.30%
Expected life in years |  | 5 years 6 months | 5 years 7 months 6 days
Expected volatility (as a percent) |  | 23.10% | 25.60%
Risk-free interest rate (as a percent) |  | 2.60% | 1.90%
Weighted average grant date fair value (in dollars per share) |  | $ 23.71 | $ 24.57
Fair value of equity awards granted |  | $ 9.1 | $ 8.8
Restricted stock awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 58,000 |  |
Unrecognized compensation cost related to stock options | $ 6.7 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 7.4 | 7.7 | 6.0
Vesting period | 3 years |  |
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 7 months 6 days |  |
Performance share awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 52,000 |  |
Unrecognized compensation cost related to stock options | $ 6.9 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 6.0 | $ 7.4 | $ 5.6
Vesting period | 3 years |  |
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 8 months 12 days |  |
Restricted Stock Units |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 12,000 | 13,000 | 13,000
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 1.3 | $ 1.4 | $ 1.4
Stock appreciation rights |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 493,000 |  |
Unrecognized compensation cost related to stock options | $ 11.6 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 8.6 | 0.0 | $ 0.0
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 3 months 18 days |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.30% |  |
Expected life in years | 1 year 3 months 18 days |  |
Expected volatility (as a percent) | 24.30% |  |
Risk-free interest rate (as a percent) | 1.60% |  |
Weighted average grant date fair value (in dollars per share) | $ 55.76 |  |
Fair value of equity awards granted | $ 27.5 |  |
Q2 2018 Stock option and stock appreciation right grant |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | 11.5 | 2.7 |
Stock compensation cost capitalized as inventory | $ 3.2 | $ 0.5 |

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