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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock-based compensation |  |  |
Unrecognized compensation cost related to stock options | $ 74.7 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | 32.3 | $ 33.5 | $ 30.2
Capitalized cost during the period | (3.2) | (9.3) | (3.5)
Amortization of capitalized cost during the period | 2.1 | 14.3 | 1.2
Total stock-based compensation expense | 31.2 | 38.5 | 27.9
Income tax benefit | 14.6 | $ 25.2 | $ 8.8
Unrecognized compensation cost related to awards other than options | $ 74.7 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 2 years 6 months |  |
Executive Incentive Program |  |  |
Stock-based compensation |  |  |
Shares available for grant under the plan (in shares) | 1,500 |  |
Restricted shares, performance shares, or other full value awards | Executive Incentive Program |  |  |
Stock-based compensation |  |  |
Shares available for grant under the plan (in shares) | 700 |  |
Stock options - annual equity grant |  |  |
Stock-based compensation |  |  |
Stock options granted (in shares) | 732 |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 0.90% | 1.40% | 1.30%
Expected life in years | 4 years 8 months 12 days | 4 years 10 months 24 days | 4 years 9 months 18 days
Expected volatility (as a percent) | 29.10% | 28.70% | 21.90%
Risk-free interest rate (as a percent) | 1.80% | 0.40% | 1.40%
Weighted average grant date fair value (in dollars per share) | $ 55.96 | $ 32.51 | $ 29.29
Fair value of equity awards granted | $ 12.8 | $ 11.8 | $ 11.6
Q2 2022 Stock Option and Stock Appreciation Right Grant |  |  |
Stock-based compensation expense |  |  |
Capitalized cost during the period | (1.1) |  |
Q2 2018 Stock option and stock appreciation right grant |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 4.7 | 9.5 | 4.0
Stock option awards |  |  |
Stock-based compensation |  |  |
Stock options granted (in shares) | 732 |  |
Unrecognized compensation cost related to stock options | $ 40.7 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 14.8 | 9.5 | 10.4
Vesting period | 3 years |  |
Maximum term life | 10 years |  |
Unrecognized compensation cost related to awards other than options | $ 40.7 |  |
2022 Broad-based Grant |  |  |
Weighted-average assumptions used to estimate grant date fair value of stock options |  |  |
Expected dividend yield (as a percent) | 1.00% |  |
Expected life in years | 3 years 9 months 18 days |  |
Expected volatility (as a percent) | 31.90% |  |
Risk-free interest rate (as a percent) | 3.90% |  |
Weighted average grant date fair value (in dollars per share) | $ 80.23 |  |
Fair value of equity awards granted | $ 40.4 |  |
Restricted stock awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 42 |  |
Unrecognized compensation cost related to stock options | $ 7.8 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 8.1 | 7.3 | 8.6
Vesting period | 3 years |  |
Unrecognized compensation cost related to awards other than options | $ 7.8 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 8 months 12 days |  |
Performance share awards |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) | 38 |  |
Unrecognized compensation cost related to stock options | $ 10.5 |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 9.4 | 7.7 | $ 7.4
Vesting period | 3 years |  |
Unrecognized compensation cost related to awards other than options | $ 10.5 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 9 months 18 days |  |
Restricted stock units |  |  |
Stock-based compensation |  |  |
Awards granted (in shares) |  |  | 8
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 0.0 | 0.0 | $ 1.4
Stock appreciation rights |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation cost | $ 0.0 | $ 9.0 | $ 2.4

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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + 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 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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