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Equity Incentive Program (Tables) | 6 Months Ended
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Jun. 30, 2021
Share-based Payment Arrangement, Noncash Expense [Abstract] |
Schedule of Black-Scholes Option-Pricing Assumptions | The expense related to stock options granted in the six months ended June 30, 2021 and 2020 was estimated on the date of grant using a Black-Scholes option-pricing model based on the assumptions shown in the table below:
|  |  |  |  | Six Months Ended June 30,
|  |  |  |  | 2021 |  |  |  | 2020
Risk-free interest rate |  |  |  |  | 0.06% |  |  |  | 0.16% | to | 1.42%
Dividend yield |  |  |  |  | —% |  |  |  | —%
Expected life (years) |  |  |  |  | 4.5 |  |  |  | 4.3 | to | 4.5
Volatility |  |  |  |  | 36.0% |  |  |  | 38.8% | to | 40.6%
Fair value at date of grant |  |  |  |  | $6.14 | to | $6.31 |  |  |  | $4.78 | to | $5.95
Schedule of SSAR and Stock Options Activity | The following table summarizes the Company's stock-settled stock appreciation right ("SSAR") and stock option activity for the six months ended June 30, 2021 (in millions, except share and per share amounts):
| SSARs |  | Stock Options
| Number of Shares |  | Weighted-Average Exercise Price |  | Aggregate Intrinsic Value |  | Weighted-Average Remaining Contractual Term (Years) |  | Number of Shares |  | Weighted-Average Exercise Price |  | Aggregate Intrinsic Value |  | Weighted-Average Remaining Contractual Term (Years)
Outstanding at December 31, 2020 | 596,537 |  |  | $ | 22.72 |  |  |  |  |  |  | 5,765,903 |  |  | $ | 17.44 |  |  |  |  |
Granted | — |  |  | — |  |  |  |  |  |  | 216,963 |  |  | 20.61 |  |  |  |  |
Exercised | — |  |  | — |  |  |  |  |  |  | (649,044) |  |  | 16.15 |  |  |  |  |
Forfeited | — |  |  | — |  |  |  |  |  |  | (78,869) |  |  | 17.05 |  |  |  |  |
Expired | (106,477) |  |  | 22.17 |  |  |  |  |  |  | (838,666) |  |  | 29.53 |  |  |  |  |
Outstanding at June 30, 2021 | 490,060 |  |  | $ | 22.84 |  |  | $ | — |  |  | 1.1 |  | 4,416,287 |  |  | $ | 15.49 |  |  | $ | 19.1 |  |  | 3.1
Exercisable at June 30, 2021 | 490,060 |  |  | $ | 22.84 |  |  | $ | — |  |  | 1.1 |  | 3,451,454 |  |  | $ | 14.92 |  |  | $ | 16.7 |  |  | 2.4
Schedule of Restricted Stock Units Award Activity | The following table summarizes the Company's restricted stock unit ("RSU") activity for the six months ended June 30, 2021:
| Share units |  | Weighted-average grant date fair value
Unvested at December 31, 2020 | 1,909,786 |  |  | $ | 16.14 |
Granted | 1,010,984 |  |  | 20.65 |
Vested (1) | (874,641) |  |  | 15.54 |
Forfeited | (92,733) |  |  | 17.79 |
Unvested at June 30, 2021 | 1,953,396 |  |  | $ | 18.61 |
(1) The number of RSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.
Share-based Payment Arrangement, Performance Shares, Outstanding Activity | The following table summarizes the Company's PSU activity for the six months ended June 30, 2021:
| Share units |  | Weighted-average grant date fair value
Unvested at December 31, 2020 | 920,973 |  |  | $ | 16.04 |
Granted | 277,183 |  |  | 28.46 |
Vested (1) | (329,092) |  |  | 13.75 |
Forfeited | (84,493) |  |  | 17.16 |
Unvested at June 30, 2021 | 784,571 |  |  | $ | 21.27 |
(1) The number of PSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + 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) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average exercise prices (or conversion ratios) for stock options and stock appreciation rights that were outstanding at the beginning and end of the year, exercisable at the end of the year, and the number of stock options and stock appreciation rights that were granted, exercised or converted, forfeited, and expired during the year. + 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) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + 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) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for outstanding performance 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 (c) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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