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Equity and Cash Incentive Programs (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Stock-based compensation expense [Abstract]        
Stock-based compensation expense $ 5,071 $ 5,914 $ 9,799 $ 12,356
Tax benefit (1,065) (1,242) (2,058) (2,595)
Stock-based compensation expense, net of tax $ 4,006 $ 4,672 $ 7,741 $ 9,761
Stock-Settled Appreciation Rights        
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]        
Outstanding, beginning balance (in shares)     393,523  
Granted (in shares)     0  
Forfeited / expired (in shares)     (1,758)  
Exercised / vested (in shares)     0  
Outstanding, ending balance (in shares) 391,765   391,765  
Performance Share Awards        
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]        
Outstanding, beginning balance (in shares)     505,509  
Granted (in shares)     347,920  
Forfeited / expired (in shares)     0  
Exercised / vested (in shares)     (72,410)  
Outstanding, ending balance (in shares) 781,019   781,019  
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]        
Outstanding, beginning balance (in shares)     2,342,107  
Granted (in shares)     932,588  
Forfeited / expired (in shares)     (159,365)  
Exercised / vested (in shares)     (437,275)  
Outstanding, ending balance (in shares) 2,678,055   2,678,055  
Non-Qualified Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Outstanding, beginning balance (in shares)     5,488,653  
Granted (in shares)     0  
Forfeited / expired (in shares)     (2,859)  
Exercised / vested (in shares)     (499,562)  
Outstanding, ending balance (in shares) 4,986,232   4,986,232