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Equity Incentive Program - Stock Options and SSARs (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award        
Share-based Payment Arrangement, Expense $ 7,400,000 $ 4,100,000 $ 18,500,000 $ 7,600,000
SSARs        
Share-based Compensation Arrangement by Share-based Payment Award        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 0   $ 0  
Number of Shares [Roll Forward]        
Beginning balance     596,537  
Granted     0  
Exercised     0  
Forfeited     0  
Expired     (106,477)  
Ending balance 490,060   490,060  
Exercised 490,060   490,060  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instrument Other than Options, Expired in Period, Weighted Average Exercise Price     $ 22.17  
Weighted Average Grant Date Fair Value        
Beginning balance     22.72  
Granted     0  
Exercised     0  
Forfeited     0  
Ending balance $ 22.84   22.84  
Exercisable $ 22.84   $ 22.84  
SARS and Options, Additional Disclosures        
SSARs, aggregate intrinsic value, outstanding $ 0   $ 0  
SSARs, aggregate intrinsic value, exercisable 0   $ 0  
SSARs, weighted average remaining contractual terms, outstanding     1 year 1 month 6 days  
SSARs, weighted average remaining contractual term, exercisable     1 year 1 month 6 days  
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 4,000,000.0   $ 4,000,000.0  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Risk-free interest rate     0.06%  
Dividend yield     0.00% 0.00%
Expected life (years)     4 years 6 months  
Volatility     36.00%  
Stock Options, Number of Shares        
Beginning balance     5,765,903  
Granted     216,963  
Exercised     (649,044)  
Forfeited     (78,869)  
Expired     (838,666)  
Ending balance 4,416,287   4,416,287  
Exercisable 3,451,454   3,451,454  
Stock Options, Weighted Average Exercise Price        
Beginning balance     $ 17.44  
Granted     20.61  
Exercised     16.15  
Forfeited     17.05  
Expired     29.53  
Ending balance $ 15.49   15.49  
Exercisable $ 14.92   $ 14.92  
SARS and Options, Additional Disclosures        
Options, aggregate intrinsic value, outstanding $ 19,100,000   $ 19,100,000  
Options, aggregate intrinsic value, exercisable $ 16,700,000   $ 16,700,000  
Options, weighted average remaining contractual term, outstanding     3 years 1 month 6 days  
Options, weighted average remaining contractual term, exercisable     2 years 4 months 24 days  
Minimum [Member] | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Risk-free interest rate       0.16%
Expected life (years)       4 years 3 months 18 days
Volatility       38.80%
Fair value at date of grant     $ 6.14 $ 4.78
Maximum [Member] | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Risk-free interest rate       1.42%
Expected life (years)       4 years 6 months
Volatility       40.60%
Fair value at date of grant     $ 6.31 $ 5.95