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Share-Based Compensation - Fair Values for SARs and Stock Options Estimated on Grant Date Using Black-Scholes-Merton Option-Pricing Formula Which Incorporates Assumptions (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement [Abstract]      
Weighted-average fair value of SARs and options granted (in usd per share) $ 18.29 $ 22.31 $ 25.19
Total intrinsic value of SARs converted and options exercised $ 545 $ 354 $ 2,263
Tax benefit (expense) related to share-based compensation $ (560) $ (101) $ 113
Weighted-average fair value of restricted stock shares and units granted (in usd per share) $ 41.75 $ 64.61 $ 72.54
Total fair value of restricted stock shares and units vested $ 6,600 $ 10,325 $ 5,740
Expected volatility 37.55% 35.05% 33.16%
Expected term (in years) 5 years 8 months 12 days 5 years 8 months 12 days 5 years 7 months 6 days
Risk-free rate 1.44% 2.56% 2.70%
Dividend yield 0.39% 0.32% 0.27%