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Stock Plans - Additional Information (Details) - USD ($) shares in Millions, $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period for grants | 3 years |  |
Historical volatility | 26.44% |  |
Dividend yield | 0.00% |  |
Risk-free interest rate | 1.42% |  |
Historical volatility | 2 years 10 months 17 days |  |
Unrecognized compensation cost expected to be recognized over the period | 4 years |  |
Total fair value of shares vested | $ 46.2 | $ 57.0 | $ 40.6
Total number of available shares to grant (in shares) | 4.3 |  |
Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Actual shares earned, possible percentage on target award | 75.00% |  |
Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Actual shares earned, possible percentage on target award | 125.00% |  |
Restricted stock and stock units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total unrecognized compensation cost, net of estimated forfeitures | $ 73.9 | $ 71.6 | $ 65.6
Restricted stock and stock units | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period for grants | 3 years |  |
Restricted stock and stock units | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period for grants | 4 years |  |
ROIC Award | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Actual shares earned, possible percentage on target award | 0.00% |  |
ROIC Award | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Actual shares earned, possible percentage on target award | 150.00% |  |

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- Definition Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Historical Volatility Rate + References No definition available. + Details
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- Definition Amount, after tax, of expense for award under share-based payment arrangement. + References No definition available. + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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 (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&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=120381028&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=120381028&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=120381028&loc=d3e5070-113901 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + 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=120381028&loc=d3e5070-113901 + Details
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- Definition Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock. + 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) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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