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Share-Based Compensation and Employee Ownership Restricted Stock Units Granted to Employees (Details) - Equity Plans - $ / shares
9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Restricted Shares and Restricted Stock Units (RSUs)      
Nonvested Restricted Shares and Restricted Stock Units      
Balance outstanding, beginning of period, shares 5,364,486 5,962,295  
Granted, shares 2,638,544 2,322,996  
Vested, shares (1,320,318) (1,545,850)  
Canceled, shares (87,348) (584,333)  
Forfeited, shares (111,212) (156,528)  
Balance outstanding, end of period, shares 6,484,152 5,998,580  
Weighted-Average Grant Date Fair Value      
Balance outstanding, beginning of period, in dollars per share $ 16.67 $ 15.73  
Granted, in dollars per share 17.14 16.62  
Vested, in dollars per share 15.20 16.26  
Canceled, in dollars per share 14.80 11.49  
Forfeited, in dollars per share 15.55 13.97  
Balance outstanding, end of period, in dollars per share $ 17.20 $ 16.40  
Restricted Stock Units (RSUs) | Non-employee Director      
Weighted-Average Grant Date Fair Value      
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 259,536   216,912
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period   120,430