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Stock-Based Compensation - Changes in Stock Options Outstanding (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Number of Options  
Outstanding, beginning balance (in shares) | shares 7,285
Exercised (in shares) | shares (438)
Forfeited (in shares) | shares (11)
Expired (in shares) | shares (1,587)
Outstanding, ending balance (in shares) | shares 5,249
Options exercisable (in shares) | shares 4,719
Weighted Average Exercise Price Per Option  
Outstanding, beginning (in dollars per share) | $ / shares $ 32.63
Exercised (in dollars per share) | $ / shares 22.48
Forfeited (in dollars per share) | $ / shares 26.42
Expired (in dollars per share) | $ / shares 40.13
Outstanding, ending (in dollars per share) | $ / shares 31.25
Options exercisable (in dollars per share) | $ / shares $ 32.18