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Common Stock and Treasury Stock - Class of Treasury Stock (Details) - shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 3,207,170 | 1,241,141 | 1,538,224
Stock Options |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 1,756,471 | 854,524 | 1,379,704
Long-term Incentive Program Performance Share Awards (LTIPs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 668,240 | 0 | 0
Total Shareholder Return Awards (TSRs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 199,413 | 0 | 0
Restricted Stock Units (RSUs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 431,504 | 259,634 | 10,000
Employee Stock Purchase Plan (ESPP) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury shares issued (in shares) | 151,542 | 126,983 | 148,520

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