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Stock-Based Compensation - Stock Appreciation Rights (Details) - Stock Appreciation Rights SARS
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Number of Rights  
OUTSTANDING AT DECEMBER 31, 2018 (shares) | shares 2,111
Shares granted (shares) | shares 40
Exercised (shares) | shares (474)
Forfeited (shares) | shares (93)
Canceled (shares) | shares (12)
OUTSTANDING AT DECEMBER 31, 2019 (shares) | shares 1,572
EXERCISABLE AT DECEMBER 31, 2019 (shares) | shares 1,198
Weighted Average Exercise Price (USD per share)  
OUTSTANDING AT DECEMBER 31, 2018 (USD per share) | $ / shares $ 107.01
Granted (USD per share) | $ / shares 129.28
Exercised (USD per share) | $ / shares 94.72
Forfeited (USD per share) | $ / shares 115.63
Canceled (USD per share) | $ / shares 128.32
OUTSTANDING AT DECEMBER 31, 2019 (USD per Share) | $ / shares 110.66
EXCERCISABLE AT DECEMBER 31, 2019 (USD per share) | $ / shares $ 109.01
Weighted average remaining contractual term, outstanding 6 years 9 months 18 days
Weighted average remaining contractual term, exercisable 6 years 2 months 12 days
Aggregate intrinsic value, outstanding | $ $ 58,410
Aggregate intrinsic value, exercisable | $ $ 46,497