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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
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:

Stock Options:
  
December 31,
2021
Weighted-average grant date fair value of grants
  
$
16.10
  
Risk-free interest rate(1)
    
0.5
%
Dividend yield(2)
    
2.9
%
Expected volatility(3)
    
49.5
%
Expected life in months(4)
  
56 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, 2023 and changes during the year ended December 31, 2023 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, 2022
    
163.9
    
$
37.69
              
Granted
    
—
      
—
              
Exercised
    
(78.9
)
    
34.60
              
Forfeited/cancelled/expired
    
(85.0
)
    
40.78
              
Outstanding at December 31, 2023
    
—
      
—
      
—
    
$
—
  
Exercisable at December 31, 2023
    
—
      
—
      
—
      
—
  
                                 
Options activity – performance based
                                
Outstanding at December 31, 2022
    
1,461.6
    
$
40.30
                  
Granted
    
—
      
—
                  
Exercised
    
(184.6
)
    
30.50
                  
Forfeited/cancelled/expired
    
(369.4
)
    
46.75
                  
Outstanding at December 31, 2023
    
907.6
      
39.67
      
3.03
    
$
—
  
Exercisable at December 31, 2023
    
784.0
      
38.12
      
2.84
      
—
  
                                 
Options activity – all options
                                
Outstanding at December 31, 2022
    
1,625.5
    
$
40.04
                  
Granted
    
—
      
—
                  
Exercised
    
(263.5
)
    
31.73
                  
Forfeited/cancelled/expired
    
(454.4
)
    
45.63
                  
Outstanding at December 31, 2023
    
907.6
      
39.67
      
3.03
    
$
—
  
Exercisable at December 31, 2023
    
784.0
      
38.12
      
2.84
      
—
  
Stock Options Exercised
Cash proceeds, tax benefits and intrinsic value related to total stock options exercised during 2023, 2022 and 2021, were as follows (U.S. dollars in thousands):

 
December 31,
  
   
2023
    
2022
    
2021
  
Cash proceeds from stock options exercised
  
$
8,322
    
$
31,600
    
$
14,435
  
Tax benefit / (expense) realized for stock options exercised
    
482
      
229
      
807
Intrinsic value of stock options exercised
    
2,338
      
15,505
      
8,402
  
Nonvested Restricted Stock Awards
Nonvested restricted stock awards as of December 31, 2023 and changes during the year ended December 31, 2023 were as follows:

 
Number
of Shares
(in thousands)
    
Weighted-
average
Grant Date
Fair Value
  
Nonvested at December 31, 2022
    
953.0
    
$
44.28
  
                 
Granted
    
550.8
      
35.77
  
Vested
    
(340.7
)
    
46.56
  
Forfeited
    
(142.6
)
    
40.74
  
                 
Nonvested at December 31, 2023
    
1,020.5
    
$
39.42
  
Nonvested Performance Share Units
Nonvested performance share units as of December 31, 2023 and changes during the year ended December 31, 2023 were as follows:

   
Number
of Shares
(in thousands)
    
Weighted-
average
Grant Date
Fair Value
  
Nonvested at December 31, 2022
    
180.2
    
$
44.39
  
                 
Granted
    
194.0
      
37.99
  
Vested
    
—
      
—
  
Forfeited
    
(101.3
)
    
43.70
  
                 
Nonvested at December 31, 2023
    
272.9
    
$
40.09