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Capital Stock and Share Based Compensation Plans - Schedule of stock compensation costs (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation, net of tax | $ 10,694 | $ 9,747 | $ 7,919
Discontinued Operations |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation | 492 | 215 | 468
Continuing Operations |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation | 14,015 | 13,093 | 10,540
Restricted Stock Units (RSUs) |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation | $ 14,507 | $ 13,308 | $ 11,008

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