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Stock-Based Compensation - Schedule of Share-based Compensation, Stock Appreciation Rights Award Activity (Details) - SARs - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Shares/Units      
Outstanding at beginning of period (in shares) 21,449 26,196 31,929
Granted (in shares) 365 399 272
Exercised (in shares) (2,420) (4,829) (5,058)
Forfeited or expired (in shares) (136) (317) (947)
Outstanding at end of period (in shares) 19,258 21,449 26,196
Exercisable at end of period (in shares) 17,979 18,249 20,132
Weighted-Average Grant Price      
Outstanding at beginning of period (in usd per share) $ 18.38 $ 17.30 $ 17.22
Granted (in usd per share) 29.64 26.72 33.15
Exercised (in usd per share) 16.10 13.34 16.96
Forfeited or expired (in usd per share) 25.50 23.47 20.93
Outstanding at end of period (in usd per share) 18.83 18.38 17.30
Exercisable (in usd per share) $ 18.19 $ 17.50 $ 15.90