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Stock Plans - Activity Under All Stock Plans and Weighted Average Exercise Prices (Details) - $ / shares shares in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Time Based Awards |  |  |
Number of Shares/Units: |  |  |
Outstanding Beginning Balance (in shares) | 1,085 | 1,160 | 1,243
Granted (in shares) | 434 | 533 | 574
Restrictions lapsed (in shares) | 557 | 568 | 616
Forfeited (in shares) | (15) | (40) | (41)
Outstanding, Ending Balance (in shares) | 947 | 1,085 | 1,160
Weighted Average Grant Date Fair Value: |  |  |
Outstanding Beginning Balance (usd per share) | $ 50.24 | $ 45.75 | $ 43.78
Granted (usd per share) | 66.66 | 57.16 | 48.10
Restrictions lapsed (usd per share) | 50.29 | 47.62 | 44.09
Forfeited (usd per share) | 53.85 | 49.10 | 43.68
Outstanding Ending Balance (usd per share) | $ 57.67 | $ 50.24 | $ 45.75
Performance Based Awards with Market Conditions |  |  |
Number of Shares/Units: |  |  |
Outstanding Beginning Balance (in shares) | 358 | 616 | 950
Granted (in shares) | 236 | 0 | 50
Restrictions lapsed (in shares) | 338 | 129 | 384
Forfeited (in shares) | (20) | (129) | 0
Outstanding, Ending Balance (in shares) | 236 | 358 | 616
Weighted Average Grant Date Fair Value: |  |  |
Outstanding Beginning Balance (usd per share) | $ 45.93 | $ 56.76 | $ 54.42
Granted (usd per share) | 74.01 | 0 | 50.09
Restrictions lapsed (usd per share) | 45.93 | 71.86 | 50.09
Forfeited (usd per share) | 45.93 | 71.86 | 0
Outstanding Ending Balance (usd per share) | $ 74.01 | $ 45.93 | $ 56.76
Performance Based Awards without Market Conditions |  |  |
Number of Shares/Units: |  |  |
Outstanding Beginning Balance (in shares) | 608 | 330 | 0
Granted (in shares) | 0 | 278 | 330
Restrictions lapsed (in shares) | 0 | 0 | 0
Forfeited (in shares) | 0 | 0 | 0
Outstanding, Ending Balance (in shares) | 608 | 608 | 330
Weighted Average Grant Date Fair Value: |  |  |
Outstanding Beginning Balance (usd per share) | $ 51.74 | $ 47.45 | $ 0
Granted (usd per share) | 0 | 56.83 | 47.45
Restrictions lapsed (usd per share) | 0 | 0 | 0
Forfeited (usd per share) | 0 | 0 | 0
Outstanding Ending Balance (usd per share) | $ 51.74 | $ 51.74 | $ 47.45
Total Awards with Performance Condition |  |  |
Number of Shares/Units: |  |  |
Outstanding Beginning Balance (in shares) | 966 | 946 | 950
Granted (in shares) | 236 | 278 | 380
Restrictions lapsed (in shares) | (338) | (129) | (384)
Forfeited (in shares) | (20) | (129) | 0
Outstanding, Ending Balance (in shares) | 844 | 966 | 946
Weighted Average Grant Date Fair Value: |  |  |
Outstanding Beginning Balance (usd per share) | $ 49.58 | $ 53.51 | $ 54.42
Granted (usd per share) | 74.01 | 56.83 | 47.80
Restrictions lapsed (usd per share) | 45.93 | 71.86 | 50.09
Forfeited (usd per share) | 45.93 | 71.86 | 0
Outstanding Ending Balance (usd per share) | $ 57.97 | $ 49.58 | $ 53.51

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited 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)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + 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)(3) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of grants made 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 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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