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Equity Incentive Program - Stock Options and SSARs (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award        
Share-based Payment Arrangement, Expense $ 7,200,000 $ 7,400,000 $ 14,800,000 $ 18,500,000
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     375,964  
Granted     0  
Exercised     (36,759)  
Forfeited     0  
Expired     (95,573)  
Ending balance 243,632   243,632  
Exercised 243,632   243,632  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instrument Other than Options, Expired in Period, Weighted Average Exercise Price     $ 21.77  
Weighted Average Grant Date Fair Value        
Beginning balance     23.16  
Granted     0  
Exercised     21.77  
Forfeited     0  
Ending balance $ 23.92   23.92  
Exercisable $ 23.92   $ 23.92  
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     7 months 6 days  
SSARs, weighted average remaining contractual term, exercisable     7 months 6 days  
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 2,400,000   $ 2,400,000  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Risk-free interest rate     0.85%  
Dividend yield     0.00% 0.00%
Expected life (years)     4 years 6 months  
Volatility     34.30%  
Stock Options, Number of Shares        
Beginning balance     3,478,438  
Granted     216,813  
Exercised     (499,527)  
Forfeited     (16,278)  
Expired     0  
Ending balance 3,179,446   3,179,446  
Exercisable 2,616,639   2,616,639  
Stock Options, Weighted Average Exercise Price        
Beginning balance     $ 15.04  
Granted     21.14  
Exercised     12.12  
Forfeited     20.80  
Expired     0  
Ending balance $ 15.89   15.89  
Exercisable $ 15.16   $ 15.16  
SARS and Options, Additional Disclosures        
Options, aggregate intrinsic value, outstanding $ 6,800,000   $ 6,800,000  
Options, aggregate intrinsic value, exercisable $ 6,600,000   $ 6,600,000  
Options, weighted average remaining contractual term, outstanding     3 years 1 month 6 days  
Options, weighted average remaining contractual term, exercisable     2 years 7 months 6 days  
Minimum [Member] | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Risk-free interest rate       0.06%
Expected life (years)       4 years 6 months
Volatility       36.00%
Fair value at date of grant     $ 6.29 $ 6.14
Maximum [Member] | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract]        
Fair value at date of grant       $ 6.31