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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, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock-based compensation |  |  |
Unrecognized compensation cost related to stock options | $ 33.5 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | 32.8 | $ 34.1 | $ 27.5
Capitalized cost during the period | (4.5) | (10.6) | (1.3)
Amortization of capitalized cost during the period | 1.6 | 7.9 | 0.8
Total stock-based compensation expense | 29.9 | 31.4 | 27.0
Income tax benefit | $ 9.6 | $ 12.9 | $ 10.6
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 2 months 12 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) | 1,200,000 |  |
Stock options - annual equity grant |  |  |
Stock-based compensation |  |  |
Stock options granted (in shares) | 395,000 |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.30% | 1.60% |
Expected life in years | 4 years 9 months 18 days | 4 years 10 months 24 days |
Expected volatility (as a percent) | 21.90% | 21.30% |
Risk-free interest rate (as a percent) | 1.40% | 2.50% |
Weighted average grant date fair value (in dollars per share) | $ 29.29 | $ 21.07 |
Fair value of equity awards granted | $ 11.6 | $ 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) | 395,000 |  |
Unrecognized compensation cost related to stock options | $ 6.6 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 11.2 | 10.8 | $ 11.0
Vesting period | 3 years |  |
Maximum term life | 10 years |  |
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 |  |  | 5 years 6 months
Expected volatility (as a percent) |  |  | 23.10%
Risk-free interest rate (as a percent) |  |  | 2.60%
Weighted average grant date fair value (in dollars per share) |  |  | $ 23.71
Fair value of equity awards granted |  |  | $ 9.1
Restricted stock awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 69,000 |  |
Unrecognized compensation cost related to stock options | $ 6.6 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 8.9 | 7.4 | 7.7
Vesting period | 3 years |  |
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 8 months 12 days |  |
Performance share awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 46,000 |  |
Unrecognized compensation cost related to stock options | $ 7.7 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 7.9 | $ 6.0 | $ 7.4
Vesting period | 3 years |  |
Weighted average period of recognition of unrecognized compensation cost related to stock options | 1 year 9 months 18 days |  |
Restricted stock units |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 8,000 | 12,000 | 13,000
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 1.4 | $ 1.3 | $ 1.4
Stock appreciation rights |  |  |
Stock-based compensation |  |  |
Unrecognized compensation cost related to stock options | 2.0 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 3.4 | 8.6 | $ 0.0
Weighted average period of recognition of unrecognized compensation cost related to stock options | 3 months 18 days |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.50% |  |
Expected life in years | 3 months 18 days |  |
Expected volatility (as a percent) | 30.10% |  |
Risk-free interest rate (as a percent) | 0.10% |  |
Weighted average grant date fair value (in dollars per share) | $ 48.24 |  |
Fair value of equity awards granted | $ 13.5 |  |
Q2 2018 Stock option and stock appreciation right grant |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | 5.1 | 11.5 |
Capitalized cost during the period | $ (6.1) | $ (3.2) |

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