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Shareholders' Equity - Restricted Stock Awards (Details) - Restricted Stock - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Unvested Restricted Stock Outstanding        
Balance at the beginning of the period (in shares) 0.0 0.1 0.3  
Granted (in shares) 0.0 0.0 0.0  
Vested (in shares) 0.0 0.0 (0.2)  
Forfeited (in shares) 0.0 0.0 (0.1)  
Balance at the end of the period (in shares) 0.0 0.0 0.1 0.3
Weighted Average Grant date Fair Value Price        
Balance at the beginning of the period (in dollars per share) $ 41.56 $ 43.63 $ 45.80  
Granted (in dollars per share) 0 0 0  
Vested (in dollars per share) 47.36 45.35 47.48  
Forfeited (in dollars per share) 0 51.47 44.77  
Balance at the end of the period (in dollars per share) $ 36.50 $ 41.56 $ 43.63 $ 45.80
Aggregate Intrinsic Value $ 0.5 $ 1.3 $ 1.4 $ 9.7
Weighted Average Remaining Vesting Term (in Years) 1 month 6 days 8 months 12 days 1 year 10 months 24 days
Aggregate value of awards vested $ 0.4 $ 1.0 $ 3.8