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Capital Stock and Share Based Compensation Plans - Summary of stock option transactions (Details) - Stock Options | 12 Months Ended
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Dec. 31, 2019 $ / shares shares | Dec. 31, 2018 $ / shares shares | Dec. 31, 2017 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding and Exercisable [Roll Forward] |  |  |
Options outstanding at beginning of period, number of shares | shares | 0 | 251,507 | 486,914
Options exercised in period, number of shares | shares |  | (251,507) | (235,407)
Options outstanding at end of period, number of shares | shares |  | 0 | 251,507
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding and Exercisable, Weighted Average Exercise Price [Roll Forward] |  |  |
Options outstanding at beginning of period, weighted-average exercise price (USD per share) |  | $ 7.38 | $ 6.81
Options exercised in period, weighted-average exercise price (USD per share) |  | 7.38 | 6.20
Options outstanding at end of period, weighted-average exercise price (USD per share) |  |  | $ 7.38
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding and Exercisable, Exercise Price Range [Roll Forward] |  |  |
Options outstanding at beginning of period, lower end of range of exercise price range (USD per share) |  | 6 | 6
Options outstanding at beginning of period, upper end of range of exercise price range (USD per share) |  | 9 | 9
Options exercised, lower end of exercise price range (USD per share) |  | 6 | 6
Options exercised, upper end of exercise price range (USD per share) |  | 9 | 8
Options outstanding at end of period, lower end of range of exercise price range (USD per share) |  |  | 6
Options outstanding at end of period, upper end of range of exercise price range (USD per share) |  |  | 9

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