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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2020
Equity [Abstract] |
Schedule of outstanding awards issued pursuant to plans | The following table summarizes the outstanding awards issued pursuant to the 2016 Plan described above as of December 31, 2020 and the remaining shares of common stock available for future issuance (in millions):
Plan name | Restricted Stock |  | RSUs |  | SSAR Awards |  | Remaining shares of common stock available for future issuance
2016 Plan (1) | — |  |  | 1.5 |  |  | 2.2 |  |  | 0.7 |
2006 Plan (2) | — |  |  | 0.4 |  |  | 0.1 |  |  | — |
(1)As of December 31, 2020, unvested RSUs will vest between August 2021 and November 2023 and the outstanding SSAR Awards will expire between March 2022 and March 2025. (2)As of December 31, 2020, unvested restricted stock will vest February 2021, unvested RSUs will vest between March 2021 and May 2021 and the outstanding SSAR Awards will expire March 2021. RSUs granted to non‑employee directors under the 2006 Plan prior to 2011 remain outstanding until the date the non‑employee director ceases, for any reason, to be a member of the Board of Directors.
Schedule of unvested restricted stock outstanding | The following table summarizes the status of our unvested restricted stock outstanding and related transactions for each of the following years (in millions, except weighted average grant-date fair value price and weighted average remaining vesting term data):
| Unvested Restricted Stock |  | Weighted Average Grant date Fair Value Price |  | Aggregate Intrinsic Value |  | Weighted Average Remaining Vesting Term (in Years)
As of December 31, 2017 | 0.3 |  | $ | 45.80 |  |  | $ | 9.7 |  |  | 0.9
Granted | — |  | — |  |  |  |  |
Vested | (0.2) |  | 47.48 |  |  |  |  |
Forfeited | (0.1) |  | 44.77 |  |  |  |  |
As of December 31, 2018 | 0.1 |  | 43.63 |  |  | 1.4 |  |  | 1.0
Granted | — |  | — |  |  |  |  |
Vested | — |  | 45.35 |  |  |  |  |
Forfeited | — |  | 51.47 |  |  |  |  |
As of December 31, 2019 | — |  | 41.56 |  |  | 1.3 |  |  | 0.7
Granted | — |  | — |  |  |  |  |
Vested | — |  | 47.36 |  |  |  |  |
Forfeited | — |  | — |  |  |  |  |
As of December 31, 2020 | — |  | $ | 36.50 |  |  | $ | 0.5 |  |  | 0.1
Schedule of RSUs | The following table summarizes the status of our RSUs and related transactions for each of the following years (in millions, except for weighted average grant‑date fair value data and weighted average remaining contractual life):
RSUs Outstanding
| RSUs |  | Weighted Average Grant date Fair Value Price |  | Aggregate Intrinsic Value |  | Weighted Average Remaining Contractual Life (in Years)
As of December 31, 2017 | 1.6 |  | $ | 41.01 |  |  | $ | 43.9 |  |  | 1.4
Granted | 0.2 |  | 22.02 |  |  |  |  |
Vested | (0.3) |  | 46.31 |  |  |  |  |
Forfeited | (0.2) |  | 41.17 |  |  |  |  |
As of December 31, 2018 | 1.3 |  | 37.17 |  |  | 28.3 |  |  | 1.0
Granted | 0.3 |  | 29.69 |  |  |  |  |
Vested | (0.4) |  | 37.34 |  |  |  |  |
Forfeited | (0.1) |  | 39.86 |  |  |  |  |
As of December 31, 2019 | 1.2 |  | 32.50 |  |  | 53.2 |  |  | 0.9
Granted | 1.2 |  | 23.30 |  |  |  |  |
Vested | (0.4) |  | 36.12 |  |  |  |  |
Forfeited | (0.2) |  | 32.56 |  |  |  |  |
As of December 31, 2020 | 1.8 |  | $ | 25.17 |  |  | $ | 57.1 |  |  | 1.3
Schedule of outstanding and exercisable SSAR Awards | The following table summarizes the status of our outstanding and exercisable SSAR Awards and related transactions for each of the following years (in millions, except weighted average exercise price and weighted average remaining contractual life data):
| SSAR Awards Outstanding | SSAR Awards Exercisable
| SSAR Awards | Weighted Average Exercise Price | Aggregate Intrinsic Value | Weighted Average Remaining Contractual Life (in Years) | SSAR Awards | Weighted Average Exercise Price | Aggregate Intrinsic Value | Weighted Average Remaining Contractual Life (in Years)
As of December 31, 2017 | 0.7 | $ | 40.27 |  | $ | — |  | 3.0 | 0.2 | $ | 42.76 |  | $ | — |  | 0.4
Granted | 1.2 | 27.08 |  |  |  |  |  |  |
Exercised | — | — |  |  |  |  |  |  |
Forfeited | (0.4) | 38.53 |  |  |  |  |  |  |
As of December 31, 2018 | 1.5 | 29.75 |  | — |  | 4.0 | — | 57.48 |  | — |  | 1.2
Granted | 0.7 | 29.68 |  |  |  |  |  |  |
Exercised | — | — |  |  |  |  |  |  |
Forfeited | — | — |  |  |  |  |  |  |
As of December 31, 2019 | 2.2 | 29.72 |  | 31.3 |  | 3.4 | 0.1 | 50.12 |  | — |  | 1.1
Granted | 0.1 | 23.39 |  |  |  |  |  |  |
Exercised | — | — |  |  |  |  |  |  |
Forfeited | — | 57.48 |  |  |  |  |  |  |
As of December 31, 2020 | 2.3 | $ | 29.08 |  | $ | 7.3 |  | 2.5 | 0.2 | $ | 41.85 |  | $ | — |  | 0.8
Schedule of unrecognized compensation cost | The unrecognized compensation cost as of December 31, 2020 is expected to be recognized as compensation expense over a weighted average period of 1.1 years as follows (in millions):
Year Ended December 31,
2021 | $ | 8.9 |
2022 | 6.1 |
2023 | 1.6 |
2024 | — |
2025 | — |
| $ | 16.6 |
Schedule of components of other comprehensive income and accumulated other comprehensive loss | Our other comprehensive loss, consisting of foreign currency translation adjustments related to our subsidiaries that have a functional currency other than the U.S. dollar and cash flow hedges, was as follows (in millions):
| Foreign Currency Translation Adjustments |  | Cash Flow Hedges |  | Accumulated Other Comprehensive Loss
Balance as of December 31, 2018 | $ | (145.0) |  |  | $ | 13.3 |  |  | $ | (131.7) |
Other comprehensive income (loss) | 8.2 |  |  | (25.5) |  |  | (17.3) |
Less: Net other comprehensive (income) loss attributable to noncontrolling interest | 2.7 |  |  | — |  |  | 2.7 |
Balance as of December 31, 2019 | (134.1) |  |  | (12.2) |  |  | (146.3) |
Other comprehensive income (loss) | 13.8 |  |  | (0.1) |  |  | 13.7 |
Balance as of December 31, 2020 | $ | (120.3) |  |  | $ | (12.3) |  |  | $ | (132.6) |

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