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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2021
Schedule of nonvested restricted stock and deferred shares activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2021 | ​ | 2020 | ​ | 2019
​ | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date
​ |  | Shares |  | Fair Value |  | Shares |  | Fair Value |  | Shares |  | Fair Value
​ | ​ | (Shares in thousands)
Unvested at beginning of year | ​ | 166 | ​ | $ | 77.97 | ​ | 196 | ​ | $ | 76.56 | ​ | 216 | ​ | $ | 71.28
Granted |  | 61 | ​ |  | 128.32 |  | 92 | ​ |  | 75.77 |  | 96 | ​ |  | 78.54
Vested |  | (84) | ​ |  | 81.70 |  | (100) | ​ |  | 74.84 |  | (102) | ​ |  | 68.83
Cancelled/Forfeitures |  | (5) | ​ |  | 93.98 |  | (22) | ​ |  | 75.73 |  | (14) | ​ |  | 56.97
Unvested at end of year |  | 138 | ​ | $ | 97.43 | ​ | 166 | ​ | $ | 77.97 |  | 196 | ​ | $ | 76.56
Schedule of stock-based compensation fair value assumptions | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |
Expected life (years) | ​ | 3.0 | ​ | 3.0 | ​
Expected stock price volatility |  | 32.7 | % | 24.6 | %
Expected dividend yield |  | 0.75 | % | 1.1 | %
Risk-free interest rate |  | 0.3 | % | 0.6 | %
Schedule of stock option activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2021 | ​ | 2020 | ​ | 2019
​ | ​ | ​ | ​ | Weighted | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Exercise | ​ | Intrinsic | ​ | ​ | ​ | Exercise | ​ | ​ | ​ | Exercise
​ |  | Options |  | Price |  | Value |  | Options |  | Price |  | Options |  | Price
​ | ​ | (Options in thousands)
Outstanding at beginning of year | ​ | 5 | ​ | $ | 52.40 | ​ | ​ | ​ | ​ | 10 | ​ | $ | 53.65 | ​ | 49 | ​ | $ | 55.25
Cancelled/Forfeitures |  | — | ​ |  | — | ​ | ​ | ​ |  | — | ​ |  | — | ​ | (1) | ​ |  | 57.47
Exercised |  | (1) | ​ |  | 51.04 | ​ | ​ | ​ |  | (5) | ​ |  | 55.03 | ​ | (38) | ​ |  | 55.63
Outstanding at end of year |  | 4 | ​ | $ | 52.92 | ​ | $ | 141.25 |  | 5 | ​ | $ | 52.40 | ​ | 10 | ​ | $ | 53.65
Exercisable at end of year |  | 4 | ​ | $ | 52.92 | ​ | $ | 141.25 |  | 5 | ​ | $ | 52.40 | ​ | 10 | ​ | $ | 53.65
Schedule of information about options outstanding | The following table summarizes information about options outstanding at December 31, 2021: ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Options Outstanding | ​ | Options Exercisable
​ | ​ | ​ | ​ | Weighted Average | ​ | Weighted Average | ​ | ​ | ​ | Weighted Average
​ | ​ | Number | ​ | Remaining Contractual | ​ | Exercise | ​ | Number | ​ | Exercise
Range of Exercise Prices |  | Outstanding |  | Life (years) |  | Price |  | Exercisable |  | Price
​ | ​ | (Options in thousands)
$37.41-$37.41 | ​ | 1 | ​ | 0.59 | ​ | $ | 37.41 | ​ | 1 | ​ | $ | 37.41
$54.76-$54.76 |  | 1 |  | 1.59 | ​ |  | 54.76 |  | 1 | ​ |  | 54.76
$57.47–$57.47 |  | 2 |  | 2.58 | ​ |  | 57.47 |  | 2 | ​ |  | 57.47
​ |  | 4 |  | 1.84 | ​ | $ | 52.92 |  | 4 | ​ | $ | 52.92
Schedule of the Company's RSU activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2021 | ​ | 2020 | ​ | 2019
​ | ​ | ​ | ​ | Weighted | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Purchase | ​ | Intrinsic | ​ | ​ | ​ | Purchase | ​ | ​ | ​ | Purchase
​ |  | RSUs |  | Price |  | Value |  | RSUs |  | Price |  | RSUs |  | Price
​ | ​ | (RSU’s in thousands)
Outstanding at beginning of year | ​ | 95 | ​ | $ | 64.54 | ​ | ​ | ​ | ​ | 110 | ​ | $ | 57.91 | ​ | 154 | ​ | $ | 45.02
Granted |  | 25 | ​ |  | 97.98 | ​ | ​ | ​ |  | 28 | ​ |  | 69.76 |  | 37 | ​ |  | 63.77
Settled |  | (34) | ​ |  | 61.38 | ​ | ​ | ​ |  | (40) | ​ |  | 49.76 |  | (79) | ​ |  | 35.63
Cancelled/Forfeitures |  | (1) | ​ |  | 77.03 | ​ | ​ | ​ |  | (3) | ​ |  | 65.69 |  | (2) | ​ |  | 56.25
Outstanding at end of year |  | 85 | ​ | $ | 75.34 | $ | 118.83 | ​ | $ | 95 | ​ | $ | 64.54 |  | 110 | ​ | $ | 57.91
Vested at end of year |  | 31 | ​ | $ | 65.29 | $ | 128.88 | ​ | $ | 32 | ​ | $ | 61.89 |  | 35 | ​ | $ | 52.67
Restricted stock and deferred shares |
Schedule of information about RSUs outstanding | The following table summarizes information about RSUs outstanding at December 31, 2021: ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | RSUs Outstanding | ​ | RSUs Vested
​ | ​ | ​ | ​ | Weighted Average | ​ | ​ | ​ | Weighted Average
​ | ​ | Number | ​ | Purchase | ​ | Number | ​ | Purchase
Range of Purchase Prices |  | Outstanding |  | Price |  | Vested |  | Price
​ | ​ | (RSUs in thousands)
$35.41-$63.77 |  | 35 | ​ | $ | 63.69 |  | 23 | ​ | $ | 63.64
$69.76-$97.98 |  | 50 | ​ |  | 83.52 |  | 8 | ​ |  | 69.76
​ |  | 85 | ​ | $ | 75.34 |  | 31 | ​ | $ | 65.29
Performance stock units |
Schedule of unvested performance shares activity and related information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
​ | ​ | 2021 | ​ | 2020 | ​ | 2019
​ | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date | ​ | ​ | ​ | Grant Date
​ |  | Shares |  | Fair Value |  | Shares |  | Fair Value | ​ | Shares |  | Fair Value
​ | ​ | (Shares in thousands)
Unvested at beginning of year | ​ | 208 |  | $ | 78.06 | ​ | 238 | ​ | $ | 73.84 | ​ | 249 | ​ | $ | 66.15
Granted |  | 61 | ​ | ​ | 113.37 | ​ | 94 | ​ | ​ | 70.65 | ​ | 88 | ​ | ​ | 77.58
Vested |  | (85) | ​ |  | 81.50 | ​ | (97) | ​ | ​ | 60.45 | ​ | (82) | ​ | ​ | 55.27
Cancelled/Forfeitures |  | (6) | ​ | ​ | 83.53 | ​ | (27) | ​ | ​ | 78.59 | ​ | (17) | ​ | ​ | 71.50
Unvested at end of year |  | 178 | ​ | $ | 88.32 | ​ | 208 | ​ | $ | 78.06 | ​ | 238 | ​ | $ | 73.84

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- Definition Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms. + 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 http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + 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 (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + 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 (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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