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Equity Incentive Program - Stock Options and SSARs (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
SSARs, Number of Shares (in shares):      
Forfeited 0    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate 0.06%    
Dividend yield 0.00% 0.00%  
Expected life (years) 4 years 6 months   4 years 6 months
Volatility 36.00%    
SSARs, Weighted-average grant date fair value (in dollars per share):      
Granted $ 20.61    
Stock Options, Number of Shares (in share):      
Beginning balance 5,765,903    
Granted 220,963    
Exercised (1,540,314)    
Forfeited (119,662)    
Expired (848,452)    
Ending balance 3,478,438 5,765,903  
Exercisable 2,645,456    
Stock Options, Weighted Average Exercise Price (in dollars per share):      
Beginning balance $ 17.44    
Granted 20.61    
Exercised 16.64    
Forfeited 17.35    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price 29.52    
Ending balance 15.04 $ 17.44  
Exercisable $ 14.25    
SARS and Options, Additional Disclosures      
Options, aggregate intrinsic value, outstanding $ 28.9    
Options, aggregate intrinsic value, exercisable $ 24.1    
Options, weighted average remaining contractual term, outstanding 3 years 1 month 6 days    
Options, weighted average remaining contractual term, exercisable 2 years 4 months 24 days    
Unrecognized compensation expense $ 2.5    
Weighted average period for compensation expense to be recognized 1 year 1 month 6 days    
SSARs and Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Dividend yield     0.00%
SSARs      
SSARs, Number of Shares (in shares):      
Beginning balance 596,537    
Granted 0    
Exercised (114,096)    
Expired (106,477)    
Ending balance 375,964 596,537  
Exercisable 375,964    
SSARs, Weighted-average grant date fair value (in dollars per share):      
Beginning balance $ 22.72    
Granted 0    
Exercised 21.77    
Forfeited 0    
Expired 22.17    
Ending balance 23.16 $ 22.72  
Exercisable 23.16    
Stock Options, Weighted Average Exercise Price (in dollars per share):      
Granted $ 0    
SARS and Options, Additional Disclosures      
SSARs, aggregate intrinsic value, outstanding $ 0.2    
SSARs, aggregate intrinsic value, exercisable $ 0.2    
SSARs, weighted average remaining contractual terms, outstanding 9 months 18 days    
SSARs, weighted average remaining contractual term, exercisable 9 months 18 days    
Unrecognized compensation expense $ 0.0    
Minimum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate   0.11% 1.55%
Expected life (years)   4 years 3 months 18 days  
Volatility   38.80% 40.00%
Fair value at date of grant $ 6.14 $ 4.78 $ 6.22
Maximum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]      
Risk-free interest rate   1.42% 2.44%
Expected life (years)   4 years 6 months  
Volatility   40.60% 42.90%
Fair value at date of grant $ 6.31 $ 5.95 $ 7.45