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Stock Plans - Activity Under All Stock Plans and Weighted Average Exercise Prices (Details) - $ / shares shares in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Non-Executive Officer Time Based Awards |  |  |
Number of Shares/ Units |  |  |
Outstanding Beginning Balance (in shares) | 947 | 1,085 | 1,160
Granted (in shares) | 625 | 434 | 533
Restrictions lapsed (in shares) | (526) | (557) | (568)
Forfeited (in shares) | (26) | (15) | (40)
Outstanding, Ending Balance (in shares) | 1,020 | 947 | 1,085
Weighted Average Grant Date Fair Value |  |  |
Outstanding Beginning Balance (usd per share) | $ 57.67 | $ 50.24 | $ 45.75
Granted (usd per share) | 54.92 | 66.66 | 57.16
Restrictions lapsed (usd per share) | 54.57 | 50.29 | 47.62
Forfeited (usd per share) | 58.37 | 53.85 | 49.10
Outstanding Ending Balance (usd per share) | $ 57.57 | $ 57.67 | $ 50.24
Performance Based Awards with Market Conditions |  |  |
Number of Shares/ Units |  |  |
Outstanding Beginning Balance (in shares) | 236 | 358 | 616
Granted (in shares) | 223 | 236 | 0
Restrictions lapsed (in shares) |  | (338) | (129)
Forfeited (in shares) |  | (20) | (129)
Outstanding, Ending Balance (in shares) | 459 | 236 | 358
Weighted Average Grant Date Fair Value |  |  |
Outstanding Beginning Balance (usd per share) | $ 74.01 | $ 45.93 | $ 56.76
Granted (usd per share) | 66.86 | 74.01 | 0
Restrictions lapsed (usd per share) | 0 | 45.93 | 71.86
Forfeited (usd per share) | 0 | 45.93 | 71.86
Outstanding Ending Balance (usd per share) | $ 70.53 | $ 74.01 | $ 45.93
Performance Based Awards without Market Conditions |  |  |
Number of Shares/ Units |  |  |
Outstanding Beginning Balance (in shares) | 608 | 608 | 330
Granted (in shares) | 70 | 0 | 278
Restrictions lapsed (in shares) | (400) | 0 | 0
Forfeited (in shares) | 0 | 0 | 0
Outstanding, Ending Balance (in shares) | 278 | 608 | 608
Weighted Average Grant Date Fair Value |  |  |
Outstanding Beginning Balance (usd per share) | $ 51.74 | $ 51.74 | $ 47.45
Granted (usd per share) | 47.45 | 0 | 56.83
Restrictions lapsed (usd per share) | 47.45 | 0 | 0
Forfeited (usd per share) | 0 | 0 | 0
Outstanding Ending Balance (usd per share) | $ 56.83 | $ 51.74 | $ 51.74
Total Awards with Performance Condition |  |  |
Number of Shares/ Units |  |  |
Outstanding Beginning Balance (in shares) | 844 | 966 | 946
Granted (in shares) | 293 | 236 | 278
Restrictions lapsed (in shares) | (400) | (338) | (129)
Forfeited (in shares) | 0 | (20) | (129)
Outstanding, Ending Balance (in shares) | 737 | 844 | 966
Weighted Average Grant Date Fair Value |  |  |
Outstanding Beginning Balance (usd per share) | $ 57.97 | $ 49.58 | $ 53.51
Granted (usd per share) | 62.22 | 74.01 | 56.83
Restrictions lapsed (usd per share) | 47.45 | 45.93 | 71.86
Forfeited (usd per share) | 0 | 45.93 | 71.86
Outstanding Ending Balance (usd per share) | $ 65.36 | $ 57.97 | $ 49.58

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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=120381028&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=120381028&loc=d3e5070-113901 + Details
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