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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2020
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:
  
2020
    
2019
    
2018
  
Weighted-average grant date fair value of grants
  
$
8.59
    
$
19.72
    
$
24.72
  
Risk-free interest rate (1)
    
1.4
%
    
2.5
%
    
2.6
%
Dividend yield (2)
    
2.9
%
    
2.7
%
    
2.6
%
Expected volatility (3)
    
40.7
%
    
42.4
%
    
45.6
%
Expected life in months (4)
  
59 months
    
60 months
    
66 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, 2020 and changes during the year ended December 31, 2020 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, 2019
    
962.5
    
$
41.11
              
Granted
    
—
      
—
              
Exercised
    
(114.7
)
    
32.82
              
Forfeited/cancelled/expired
    
(77.2
)
    
77.39
              
Outstanding at December 31, 2020
    
770.6
      
38.71
      
2.06
    
$
13,410
  
Exercisable at December 31, 2020
    
770.6
      
38.71
      
2.06
      
13,410
  
                                 
Options activity – performance based
                                
Outstanding at December 31, 2019
    
2,158.4
    
$
61.75
                  
Granted
    
1,079.3
      
30.45
                  
Exercised
    
(116.2
)
    
31.13
                  
Forfeited/cancelled/expired
    
(723.5
)
    
69.82
                  
Outstanding at December 31, 2020
    
2,398.0
      
46.71
      
4.89
    
$
31,720
  
Exercisable at December 31, 2020
    
565.6
      
49.26
      
3.05
      
5,713
  
                                 
Options activity – all options
                                
Outstanding at December 31, 2019
    
3,120.9
    
$
55.38
                  
Granted
    
1,079.3
      
30.45
                  
Exercised
    
(230.9
)
    
31.97
                  
Forfeited/cancelled/expired
    
(800.7
)
    
70.55
                  
Outstanding at December 31, 2020
    
3,168.6
      
44.76
      
4.20
    
$
45,130
  
Exercisable at December 31, 2020
    
1,336.3
      
43.18
      
2.48
      
19,124
  
Stock Options Exercised
Cash proceeds, tax benefits and intrinsic value related to total stock options exercised during 2020, 2019 and 2018, were as follows (U.S. dollars in thousands):

  
December 31,
  
   
2020
    
2019
    
2018
  
Cash proceeds from stock options exercised
  
$
7,419
    
$
368
    
$
13,908
  
Tax (expense) / benefit realized for stock options exercised
    
(459
)
    
430
      
3,217
  
Intrinsic value of stock options exercised
    
5,232
      
934
      
11,855
  
Nonvested Restricted Stock Awards
Nonvested restricted stock awards as of December 31, 2020 and changes during the year ended December 31, 2020 were as follows:

  
Number
of Shares
(in thousands)
    
Weighted-average
Grant Date
Fair Value
  
Nonvested at December 31, 2019
    
573.1
    
$
58.99
  
                 
Granted
    
614.6
      
38.58
  
Vested
    
(220.1
)
    
56.50
  
Forfeited
    
(36.5
)
    
51.98
  
                 
Nonvested at December 31, 2020
    
931.1
    
$
46.38