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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($) $ / shares in Units, $ in Millions |  | 12 Months Ended
--- | --- | ---
May 06, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost related to awards other than options |  | $ 33.5 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  | 1 year 2 months 12 days |  |
Stock option awards |  |  |  |
Number of Shares |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 1,825,000 |  |
Stock options granted (in shares) |  | 395,000 |  |
Options exercised (in shares) |  | (229,000) |  |
Options forfeited (in shares) |  | (165,000) |  |
Outstanding at the end of the period (in shares) |  | 1,826,000 | 1,825,000 |
Vested and exercisable at the end of the period (in shares) |  | 768,000 |  |
Intrinsic value of options exercised |  | $ 11.9 | $ 25.4 | $ 18.4
Fair value of options vested |  | $ 7.9 | $ 6.3 | 10.2
Weighted Average Price |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 101.95 |  |
Options granted (in dollars per share) |  | 159.49 |  |
Options exercised (in dollars per share) |  | 95.49 |  |
Options forfeited (in dollars per share) |  | 119.11 |  |
Outstanding at the end of the period (in dollars per share) |  | 114.03 | $ 101.95 |
Vested and exercisable at the end of the period (in dollars per share) |  | $ 98.25 |  |
Weighted average contractual term |  | 7 years |  |
The weighted average contractual term of options exercisable |  | 5 years 4 months 24 days |  |
Aggregate intrinsic value of options outstanding |  | $ 78.8 |  |
Aggregate intrinsic value of options vested and exercisable |  | 44.5 |  |
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost related to awards other than options |  | $ 6.6 |  |
Performance share and restricted stock awards |  |  |  |
Vesting period of shares awarded under the Program |  | 3 years |  |
Restricted stock awards |  |  |  |
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost related to awards other than options |  | $ 6.6 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  | 1 year 8 months 12 days |  |
Performance share and restricted stock awards |  |  |  |
Vesting period of shares awarded under the Program |  | 3 years |  |
Intrinsic value of shares vested during year ended December 31 |  | $ 9.6 | $ 5.6 | 11.7
Fair value of shares vested during year ended December 31 |  | $ 7.5 | $ 4.6 | $ 9.8
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Outstanding at beginning of period (shares) |  | 173,000 |  |
Awards granted (in shares) |  | 69,000 |  |
Awards vested (in shares) |  | (66,000) |  |
Awards forfeited (in shares) |  | (10,000) |  |
Outstanding at end of period (shares) |  | 166,000 | 173,000 |
Outstanding at beginning of period (in dollars per share) |  | $ 109.62 |  |
Awards granted (in dollars per share) |  | 147.78 | $ 112.70 | $ 114.27
Awards vested (in dollars per share) |  | 114.39 |  |
Awards forfeited (in dollars per share) |  | 123.70 |  |
Outstanding at end of period (in dollars per share) |  | $ 122.88 | $ 109.62 |
Weighted average contractual term |  | 9 months 18 days |  |
Aggregate intrinsic value |  | $ 26.0 |  |
Performance share awards |  |  |  |
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost related to awards other than options |  | $ 7.7 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  | 1 year 9 months 18 days |  |
Performance share and restricted stock awards |  |  |  |
Vesting period of shares awarded under the Program |  | 3 years |  |
Intrinsic value of shares vested during year ended December 31 |  | $ 11.3 | $ 5.9 | $ 5.2
Fair value of shares vested during year ended December 31 |  | $ 12.9 | $ 5.0 | $ 5.3
Measurement period |  | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Outstanding at beginning of period (shares) |  | 143,000 |  |
Awards granted (in shares) |  | 46,000 |  |
Awards vested (in shares) |  | (80,000) |  |
Awards converted (in shares) |  | 36,000 |  |
Awards forfeited (in shares) |  | (9,000) |  |
Outstanding at end of period (shares) |  | 136,000 | 143,000 |
Outstanding at beginning of period (in dollars per share) |  | $ 143.94 |  |
Awards granted (in dollars per share) |  | 222.50 | $ 149.27 | $ 140.20
Awards vested (in dollars per share) |  | 141.79 |  |
Awards converted (in dollars per share) |  | 141.81 |  |
Awards forfeited (in dollars per share) |  | 167.03 |  |
Outstanding at end of period (in dollars per share) |  | $ 170.34 | $ 143.94 |
Weighted average contractual term |  | 10 months 24 days |  |
Aggregate intrinsic value |  | $ 21.2 |  |
Restricted stock units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Awards granted (in shares) |  | 8,000 | 12,000 | 13,000
Outstanding at beginning of period (in dollars per share) |  | $ 110.79 | $ 108.72 |
Outstanding at end of period (in dollars per share) |  | $ 161.41 | $ 110.79 | $ 108.72
Stock appreciation rights |  |  |  |
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost related to awards other than options |  | $ 2.0 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards |  | 3 months 18 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |  |
Outstanding at beginning of period (shares) |  | 362,000 |  |
Awards exercised (in shares) |  | (3,000) |  |
Awards forfeited (in shares) |  | (78,000) |  |
Outstanding at end of period (shares) |  | 281,000 | 362,000 |
Weighted average contractual term |  | 3 months 18 days |  |
Aggregate intrinsic value |  | $ 13.9 |  |
Stock Appreciation Rights, Weighted Average Exercise Price [Abstract] |  |  |  |
Outstanding at beginning of period (in dollars per share) |  | $ 106.85 |  |
Awards exercised (in dollars per share) |  | 106.85 |  |
Awards forfeited (in dollars per share) |  | 106.85 |  |
Outstanding at end of period (in dollars per share) |  | $ 106.85 | $ 106.85 |
Eligible Directors | Restricted stock units |  |  |  |
Performance share and restricted stock awards |  |  |  |
Vesting period of shares awarded under the Program | 1 year |  |  |
Board member retirement age for vesting | 72 years |  |  |
Consecutive years of service on the board for vesting | 18 years |  |  |
Deferred Compensation Equity |  |  |  |
Number of Shares |  |  |  |
Number of common stock deferred (in shares) |  | 84,000 | 86,000 |
Performance share and restricted stock awards |  |  |  |
Number of common stock deferred (in shares) |  | 84,000 | 86,000 |

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- Definition Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + 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 (e)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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