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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Stock-Based Compensation [Abstract]  
Stock Option Valuation Assumptions The fair value of stock option awards was estimated using the Black-Scholes option-pricing model with the following assumptions and weighted-average fair values as follows:


 
December 31,
  
Stock Options:
  
2019
    
2018
    
2017
  
Weighted-average grant date fair value of grants
  
$
19.72
    
$
24.72
    
$
18.84
  
Risk-free interest rate(1)
    
2.5
%
    
2.6
%
    
2.1
%
Dividend yield(2)
    
2.7
%
    
2.6
%
    
2.5
%
Expected volatility(3)
    
42.4
%
    
45.6
%
    
48.2
%
Expected life in months(4)
  
60 months
    
66 months
    
68 months
  

(1)
The risk-free interest rate is based upon the rate on a zero-coupon U.S. Treasury bill, for periods within the contractual life of the option, in effect at the time of the grant.
(2)
The dividend yield is based on the average of historical stock prices and actual dividends paid.
(3)
Expected volatility is based on the historical volatility of the Company’s stock price, over a period similar to the expected life of the option.
(4)
The expected term of the option is based on the historical employee exercise behavior, the vesting terms of the respective option, and a contractual life of either seven or ten years.
Stock Options Options under the plans as of December 31, 2019 and changes during the year ended December 31, 2019 were as follows:


 
Shares
(in thousands)
    
Weighted-
average
Exercise
Price
    
Weighted-
average
Remaining
Contractual
Term (in years)
    
Aggregate
Intrinsic
Value
(in thousands)
  
Options activity – service based
                        
Outstanding at December 31, 2018
    
1,046.5
    
$
40.53
              
Granted
    
—
      
—
              
Exercised
    
(70.2
)
    
32.38
              
Forfeited/cancelled/expired
    
(13.8
)
    
41.49
              
Outstanding at December 31, 2019
    
962.5
      
41.11
      
2.87
    
$
5,234
  
Exercisable at December 31, 2019
    
775.4
      
42.59
      
2.77
      
4,000
  
                                 
Options activity – performance based
                                
Outstanding at December 31, 2018
    
2,370.8
    
$
64.00
                  
Granted
    
496.6
      
63.09
                  
Exercised
    
(46.0
)
    
50.79
                  
Forfeited/cancelled/expired
    
(663.0
)
    
71.73
                  
Outstanding at December 31, 2019
    
2,158.4
      
61.75
      
4.16
    
$
2,997
  
Exercisable at December 31, 2019
    
698.1
      
46.06
      
3.82
      
2,997
  
                                 
Options activity – all options
                                
Outstanding at December 31, 2018
    
3,417.3
    
$
56.81
                  
Granted
    
496.6
      
63.09
                  
Exercised
    
(116.2
)
    
39.67
                  
Forfeited/cancelled/expired
    
(676.8
)
    
71.11
                  
Outstanding at December 31, 2019
    
3,120.9
      
55.38
      
3.76
    
$
8,231
  
Exercisable at December 31, 2019
    
1,473.4
      
44.23
      
3.26
      
6,997
  
Stock Options Exercised Cash proceeds, tax benefits and intrinsic value related to total stock options exercised during 2019, 2018 and 2017, were as follows (U.S. dollars in thousands):


 
December 31,
  
   
2019
    
2018
    
2017
  
Cash proceeds from stock options exercised
  
$
368
    
$
13,908
    
$
26,980
  
Tax benefit realized for stock options exercised
    
430
      
3,217
      
6,457
  
Intrinsic value of stock options exercised
    
934
      
11,855
      
42,749
  
Nonvested Restricted Stock Awards Nonvested restricted stock awards as of December 31, 2019 and changes during the year ended December 31, 2019 were as follows:


 
Number
of Shares
(in thousands)
    
Weighted-
average Grant
Date Fair
Value
  
Nonvested at December 31, 2018
    
467.5
    
$
57.61
  
                 
Granted
    
341.9
      
59.59
  
Vested
    
(196.6
)
    
56.72
  
Forfeited
    
(39.7
)
    
59.17
  
                 
Nonvested at December 31, 2019
    
573.1
    
$
58.99