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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |
Activity Under All Stock Plans and Weighted Average Exercise Prices | The following table reflects activity under all stock plans from December 31, 2016 through December 31, 2019, and the weighted average exercise prices (in thousands, except per share amounts):
|  |  | Time Based Awards |  |  |  |  |  | Performance Based Awards with Market Conditions |  |  |  |  |  | Performance Based Awards without Market Conditions |  |  |  |  | Total Awards with Performance Condition |  |
|  |  | Number of Shares/ Units |  |  | Weighted Average Grant Date Fair Value |  |  | Number of Shares/ Units |  |  | Weighted Average Grant Date Fair Value |  |  | Number of Shares/ Units |  |  | Weighted Average Grant Date Fair Value |  | Number of Shares/ Units |  | Weighted Average Grant Date Fair Value
Outstanding, December 31, 2016 |  |  | 1,243 |  |  |  | $43.78 |  |  |  | 950 |  |  |  | $54.42 |  |  |  | — |  |  |  | — |  |  | 950 |  |  | $54.42 |
Granted |  |  | 574 |  |  |  | $48.10 |  |  |  | 50 |  |  |  | $50.09 |  |  |  | 330 |  |  |  | $47.45 |  |  | 380 |  |  | $47.80 |
Restrictions lapsed |  |  | (616) |  |  |  | $44.09 |  |  |  | (384) |  |  |  | $50.09 |  |  |  | — |  |  |  | — |  |  | (384) |  |  | $50.09 |
Forfeited |  |  | (41) |  |  |  | $43.68 |  |  |  | — |  |  |  | — |  |  |  | — |  |  |  | — |  |  | — |  |  | — |
Outstanding, December 31, 2017 |  |  | 1,160 |  |  |  | $45.75 |  |  |  | 616 |  |  |  | $56.76 |  |  |  | 330 |  |  |  | $47.45 |  |  | 946 |  |  | $53.51 |
Granted |  |  | 533 |  |  |  | $57.16 |  |  |  | — |  |  |  | — |  |  |  | 278 |  |  |  | $56.83 |  |  | 278 |  |  | $56.83 |
Restrictions lapsed |  |  | (568) |  |  |  | $47.62 |  |  |  | (129) |  |  |  | $71.86 |  |  |  | — |  |  |  | — |  |  | (129) |  |  | $71.86 |
Forfeited |  |  | (40) |  |  |  | $49.10 |  |  |  | (129) |  |  |  | $71.86 |  |  |  | — |  |  |  | — |  |  | (129) |  |  | $71.86 |
Outstanding, December 31, 2018 |  |  | 1,085 |  |  |  | $50.24 |  |  |  | 358 |  |  |  | $45.93 |  |  |  | 608 |  |  |  | $51.74 |  |  | 966 |  |  | $49.58 |
Granted |  |  | 434 |  |  |  | $66.66 |  |  |  | 236 |  |  |  | $74.01 |  |  |  | — |  |  |  | — |  |  | 236 |  |  | $74.01 |
Restrictions lapsed |  |  | (557) |  |  |  | $50.29 |  |  |  | (338) |  |  |  | $45.93 |  |  |  | — |  |  |  | — |  |  | (338) |  |  | $45.93 |
Forfeited |  |  | (15) |  |  |  | $53.85 |  |  |  | (20) |  |  |  | $45.93 |  |  |  | — |  |  |  | — |  |  | (20) |  |  | $45.93 |
Outstanding, December 31, 2019 |  |  | 947 |  |  |  | $57.67 |  |  |  | 236 |  |  |  | $74.01 |  |  |  | 608 |  |  |  | $51.74 |  |  | 844 |  |  | $57.97 |

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