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Share Based Compensation - Restricted Stock Units (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Restricted stock and performance-based restricted stock units      
Other disclosures      
Unrecognized stock-based compensation expense related to non-vested stock $ 31.5    
Weighted- average period over which unrecognized stock-based compensation cost will be expensed 1 year 6 months    
Restricted stock units      
Units      
Vested (in units) (1,100,000) (600,000) (700,000)
Other disclosures      
Intrinsic value of shares fully vested during the period $ 21.3 $ 12.3 $ 12.0
Total estimated grant date fair values $ 24.1 $ 12.9 $ 13.3
Restricted stock units | Employee Awards      
Units      
Nonvested at the beginning of the year (in units) 1,164,224 1,208,628  
Granted (in units) 427,851 467,896  
Vested (in units) (489,026) (452,306)  
Forfeited (in units) (21,289) (59,994)  
Nonvested at the end of the year (in units) 1,081,760 1,164,224 1,208,628
Weighted Average Grant Date Fair Value      
Nonvested at the beginning of the year (in dollars per unit) $ 16.32 $ 14.47  
Granted (in dollars per unit) 21.81 19.14  
Vested (in dollars per unit) 14.18 14.48  
Forfeited (in dollars per unit) 18.97 14.94  
Nonvested at the end of the year (in dollars per unit) $ 18.90 $ 16.32 $ 14.47
Restricted stock units | Director Awards      
Units      
Nonvested at the beginning of the year (in units) 55,752 61,376  
Granted (in units) 70,623 55,752  
Vested (in units) (55,752) (61,376)  
Nonvested at the end of the year (in units) 70,623 55,752 61,376
Weighted Average Grant Date Fair Value      
Nonvested at the beginning of the year (in dollars per unit) $ 20.10 $ 18.25  
Granted (in dollars per unit) 17.07 20.09  
Vested (in dollars per unit) 20.09 18.25  
Nonvested at the end of the year (in dollars per unit) $ 17.07 $ 20.10 $ 18.25
Performance-based stock awards | Employee Awards      
Units      
Nonvested at the beginning of the year (in units) 599,484 593,099  
Granted (in units) 523,972 147,983  
Vested (in units) (541,923) (120,953)  
Forfeited (in units) (260,852) (20,645)  
Nonvested at the end of the year (in units) 320,681 599,484 593,099
Weighted Average Grant Date Fair Value      
Nonvested at the beginning of the year (in dollars per unit) $ 17.82 $ 17.63  
Granted (in dollars per unit) 25.95 19.16  
Vested (in dollars per unit) 24.36 18.40  
Forfeited (in dollars per unit) 19.29 18.32  
Nonvested at the end of the year (in dollars per unit) $ 18.86 $ 17.82 $ 17.63