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Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Stock-based compensation |  |  |
Compensation expense related to the Plan | $ 23.1 | $ 20.4 | $ 17.8
Restricted Stock |  |  |
Stock-based compensation |  |  |
Number of shares ranted (in shares) | 439,633 | 280,830 | 524,063
Period over which forfeiture and non-transferable restrictions lapse | 4 years |  |
Percentage over which unrecognized compensation cost is expected to be recognized year one | 15.00% |  |
Percentage over which unrecognized compensation cost is expected to be recognized year two | 15.00% |  |
Percentage over which unrecognized compensation cost is expected to be recognized year three | 20.00% |  |
Percentage over which unrecognized compensation cost is expected to be recognized year four | 50.00% |  |
Unrecognized compensation cost related to the restricted stock | $ 34.2 |  |
Shares |  |  |
Balance at the beginning of the period (in shares) | 1,027,735 | 1,126,705 |
Granted (in shares) | 439,633 | 280,830 | 524,063
Vested (in shares) | (355,697) | (357,295) |
Forfeited (in shares) | (28,827) | (22,505) |
Balance at the end of the period (in shares) | 1,082,844 | 1,027,735 | 1,126,705
Weighted Average Grant Date Fair Value |  |  |
Balance at the beginning of the period (in dollars per share) | $ 47.75 | $ 46.55 |
Granted (in dollars per share) | 65.81 | 51.61 |
Vested (in dollars per share) | 50.85 | 44.85 |
Forfeited (in dollars per share) | 47.61 | 46.08 |
Balance at the end of the period (in dollars per share) | $ 56.26 | $ 47.75 | $ 46.55
Aggregate Intrinsic Value |  |  |
Balance at the end of the period | $ 116.1 | $ 61.0 |
2015 Plan |  |  |
Stock-based compensation |  |  |
Maximum number of shares authorized under the plan (in shares) | 5,000,000 |  |
Number of shares of common stock available for grant under the plan (in shares) | 4,496,793 |  |

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