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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of Share-based Compensation, Equity Instruments Other Than Options, Activity The table below summarizes award activity.
 
Year Ended December 31
 
2019
 
2018
 
2017
 
Number of
Awards
 
Weighted
average
grant-date
fair value
 
Number of
Awards
 
Weighted
average
grant-date
fair value
 
Number of
Awards
 
Weighted
average
grant-date
fair value
Outstanding at beginning of period
969,928

 
$
15.89

 
873,849

 
$
12.30

 
1,040,569

 
$
9.97

Granted
302,596

 
23.22

 
304,795

 
24.18

 
243,940

 
17.52

Converted
(291,064
)
 
17.14

 
(205,616
)
 
12.74

 
(320,810
)
 
9.47

Expired
(7,900
)
 
23.78

 
(500
)
 
28.38

 
(82,050
)
 
9.22

Forfeited
(9,728
)
 
23.37

 
(2,600
)
 
26.76

 
(7,800
)
 
13.55

Outstanding at end of period
963,832

 
$
17.67

 
969,928

 
$
15.89

 
873,849

 
$
12.30

Vested
476,389

 
$
11.11

 
463,422

 
$
10.25

 
441,424

 
$
7.61
Schedule of Share-based Payment Award, Equity Instruments Other Than Options, Valuation Assumptions The market condition awards were valued using a Monte Carlo simulation technique based on volatility over three years for the awards granted in 2019, 2018 and 2017 using daily stock prices and using the following variables:
 
2019
 
2018
 
2017
Risk-free interest rate
2.5%
 
2.4%
 
1.7%
Volatility
35.6%
 
33.8%
 
34.7%