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Shareholders' Equity (Details) |  |  | 12 Months Ended
--- | --- | --- | ---
Oct. 28, 2013 $ / shares | Feb. 29, 2012 $ / shares | Dec. 31, 2020 USD ($) plans $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Dividends per share of common stock (in dollars per share) | $ / shares | $ 0.20 | $ 0.15 | $ 0.80 | $ 0.80 | $ 0.80
Dividends payable |  |  | $ 5,775,000 | $ 5,684,000 | $ 5,626,000
Preferred stock, shares authorized (in shares) | shares |  |  | 500,000 | 500,000 |
Preferred stock, par value (in dollars per per share) | $ / shares |  |  | $ 0.01 | $ 0.01 |
Shares authorized under repurchase program |  |  | $ 200,000,000.0 |  |
Total stock repurchased under plan, shares | shares |  |  | 6,100,000 |  |
Total stock repurchased under plan, value |  |  | $ 162,600,000 |  |
Remaining authorized repurchase amount |  |  | $ 37,400,000 |  |
Number of shares reserved for share-based compensation plans | shares |  |  | 7,100,000 |  |
Number of share-based compensation plans | plans |  |  | 2 |  |
Number of shares available for grant | shares |  |  | 3,800,000 |  |
Stock-based compensation |  |  | $ 13,111,000 | $ 11,779,000 | 10,037,000
Tax benefit from stock-based compensation |  |  | 3,200,000 | 2,800,000 | 2,300,000
Proceeds from stock options exercised |  |  | $ 13,700,000 | $ 7,700,000 | $ 3,500,000
Stock Options and Stock Appreciation Rights (SARs) [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Expiration period from date of grant (in years) |  |  | 10 years |  |
Minimum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting term (in years) |  |  | 4 years |  |
Maximum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting term (in years) |  |  | 5 years |  |

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