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Stock-Based Compensation - Unvested restricted stock and deferred shares activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Other Disclosures |  |  |
Total unrecognized compensation cost related to the unvested awards | $ 13.2 |  |
Total weighted average remaining term of unvested awards | 1 year 5 months 23 days |  |
Compensation cost recognized | $ 12.7 | $ 17.8 | $ 13.8
Performance stock units |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Unvested at beginning of year (in shares) | 238 | 249 | 273
Granted (in shares) | 94 | 88 | 96
Cancelled/Forfeitures (in shares) | (97) | (82) | (80)
Vested (in shares) | (27) | (17) | (40)
Unvested at end of year (in shares) | 208 | 238 | 249
Weighted Average Grant Date Fair Value |  |  |
Unvested at beginning of period (in dollars per share) | $ 73.84 | $ 66.15 | $ 58.23
Granted (in dollars per share) | 70.65 | 77.58 | 81.51
Cancelled/Forfeitures (in dollars per share) | 60.45 | 55.27 | 58.96
Vested (in dollars per share) | 78.59 | 71.50 | 63.43
Unvested at end of period (in dollars per share) | $ 78.06 | $ 73.84 | $ 66.15
Other Disclosures |  |  |
Total fair value of shares vested | $ 10.0 | $ 6.3 | $ 5.8
Total unrecognized compensation cost related to the unvested awards | $ 5.5 |  |
Total weighted average remaining term of unvested awards | 1 year 5 months 26 days |  |
Compensation cost recognized | $ 4.3 | $ 8.5 | $ 5.2
Aggregate intrinsic value of outstanding awards | $ 25.3 |  |
Performance stock units | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 121.70 |  |
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock and deferred shares |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Unvested at beginning of year (in shares) | 196 | 216 | 217
Granted (in shares) | 92 | 96 | 153
Cancelled/Forfeitures (in shares) | (100) | (102) | (126)
Vested (in shares) | (22) | (14) | (28)
Unvested at end of year (in shares) | 166 | 196 | 216
Weighted Average Grant Date Fair Value |  |  |
Unvested at beginning of period (in dollars per share) | $ 76.56 | $ 71.28 | $ 57.31
Granted (in dollars per share) | 75.77 | 78.54 | 80.52
Cancelled/Forfeitures (in dollars per share) | 74.84 | 68.83 | 59.52
Vested (in dollars per share) | 75.73 | 56.97 | 66.24
Unvested at end of period (in dollars per share) | $ 77.97 | $ 76.56 | $ 71.28
Other Disclosures |  |  |
Total fair value of shares vested | $ 8.1 | $ 8.4 | $ 10.2
Total unrecognized compensation cost related to the unvested awards | $ 6.9 |  |
Total weighted average remaining term of unvested awards | 1 year 5 months 23 days |  |
Compensation cost recognized | $ 7.7 | 8.5 | $ 7.6
Aggregate intrinsic value of outstanding awards | $ 20.3 |  |
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock and deferred shares | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 121.70 |  |
Management Stock Purchase Plan | Restricted stock |  |  |
Other Disclosures |  |  |
Compensation cost recognized | $ 0.7 | $ 0.8 |
Management Stock Purchase Plan | Restricted stock | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 121.70 |  |
Management Stock Purchase Plan | Restricted stock units (RSUs) |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Granted (in shares) | 28 | 37 | 36
Cancelled/Forfeitures (in shares) | (40) | (79) | (46)
Weighted Average Grant Date Fair Value |  |  |
Granted (in dollars per share) | $ 22.36 | $ 22.16 | $ 21.80
Other Disclosures |  |  |
Total unrecognized compensation cost related to the unvested awards | $ 0.8 |  |
Total weighted average remaining term of unvested awards | 1 year 4 months 20 days |  |
Compensation cost recognized |  |  | $ 1.0
Aggregate intrinsic value of outstanding awards | $ 5.4 |  |
Dividend declared and unpaid | $ 0.1 |  |

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