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Shareholders' Equity and Long-Term Incentive Compensation - Stock Activity (Details) - USD ($) shares in Thousands, $ in Millions |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Feb. 21, 2019 | Feb. 22, 2018 | Mar. 01, 2017 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Stock Options |  |  |  |  |  |
Historical period upon which annual expected stock price volatility is based (years) |  |  |  | 3 years |  |
Maximum |  |  |  |  |  |
Stock Options |  |  |  |  |  |
Daily treasury yield curve period upon which average risk-free interest rate is based (years) |  |  |  | 3 years |  |
PSU's, RSU's, and RS's |  |  |  |  |  |
Unvested Restricted Stock Shares and Restricted Stock Units |  |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  |  |  | 652 | 1,230 | 1,702
Granted (in shares) |  |  |  | 430 | 211 | 252
Vested (in shares) |  |  |  | (446) | (753) | (483)
Forfeited (in shares) |  |  |  | (30) | (36) | (241)
Outstanding at the end of the period (in shares) |  |  |  | 606 | 652 | 1,230
Weighted-Average Grant-Date Fair Value |  |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  |  |  | $ 24.65 | $ 17.41 | $ 16.47
Granted (in dollars per share) |  |  |  | 35.49 | 33.69 | 28.22
Vested (in dollars per share) |  |  |  | 18.75 | 15.39 | 18.17
Forfeited (in dollars per share) |  |  |  | 35.10 | 22.35 | 20.83
Outstanding at the end of the period (in dollars per share) |  |  |  | $ 36.17 | $ 24.65 | $ 17.41
Unrecognized compensation cost |  |  |  |  |  |
Unrecognized compensation cost related to PSUs, RSUs, and RSs |  |  |  | $ 9.9 |  |
PSU's, RSU's, and RS's | Maximum |  |  |  |  |  |
Stock Options |  |  |  |  |  |
Vesting period (years) |  |  |  | 3 years |  |
PSU's, RSU's, and RS's | Weighted Average |  |  |  |  |  |
Unrecognized compensation cost |  |  |  |  |  |
Weighted-average period over which unrecognized compensation costs will be recognized |  |  |  | 1 year 10 months 24 days |  |
Stock options |  |  |  |  |  |
Stock Options |  |  |  |  |  |
Granted (in shares) | 186 | 184 | 208 | 189 | 184 | 208
Exercise price per share (in dollars per share) | $ 36.51 | $ 32.69 | $ 27.40 | $ 36.50 | $ 32.69 | $ 27.40
Fair value of stock option grants (in dollars per share) | $ 13.31 | $ 11.66 | $ 9.60 |  |  |
Annual expected stock price volatility | 32.70% | 31.14% | 32.00% |  |  |
Annual expected dividend yield | 0.00% | 0.00% | 0.00% |  |  |
Risk-free interest rate | 2.53% | 2.75% | 2.14% |  |  |
Expected life of stock option (in years) | 6 years | 6 years | 6 years |  |  |
Historical period upon which annual expected stock price volatility is based (years) |  | 6 years |  |  |  |
Vesting period (years) |  | 3 years |  |  |  |
Stock option activity, Shares |  |  |  |  |  |
Options outstanding and exercisable at the beginning of the period (in shares) |  |  |  | 1,718 | 1,608 | 1,552
Exercised (in shares) |  |  |  | (202) | (64) | (125)
Forfeited (in shares) |  |  |  | (13) | (10) | (27)
Granted (in shares) | 186 | 184 | 208 | 189 | 184 | 208
Options outstanding and exercisable at the end of the period (in shares) |  |  |  | 1,692 | 1,718 | 1,608
Stock option activity, Weighted Average Exercise Price |  |  |  |  |  |
Options outstanding and exercisable, beginning balance (in dollars per share) |  |  |  | $ 16.58 | $ 14.67 | $ 12.89
Exercised, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | 13.46 | 13.89 | 20.67
Forfeited, Weighted Average Exercise Price (in dollars per share) |  |  |  | 33.15 | 23.17 | 14.45
Granted, Weighted Average Exercise Price (in dollars per share) | $ 36.51 | $ 32.69 | $ 27.40 | 36.50 | 32.69 | 27.40
Options outstanding and exercisable, ending balance (in dollars per share) |  |  |  | $ 19.05 | $ 16.58 | $ 14.67
Number of stock options exercisable (in shares) |  |  |  | 1,329 |  |
Compensation costs not yet recognized |  |  |  | $ 1.5 |  |
Stock options | Maximum |  |  |  |  |  |
Stock Options |  |  |  |  |  |
Maximum contractual term (years) |  |  |  | 10 years |  |
Daily treasury yield curve period upon which average risk-free interest rate is based (years) |  | 7 years |  |  |  |
Stock options | Weighted Average |  |  |  |  |  |
Unrecognized compensation cost |  |  |  |  |  |
Weighted-average period over which unrecognized compensation costs will be recognized |  |  |  | 1 year 10 months 24 days |  |

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + 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 (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + 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 (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + 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 (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + 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 (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + 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)(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + 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)(iv) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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=116856206&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 (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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