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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018
Employee Stock-Based Awards |  |  |  |
Expiration period |  |  | 3 years |
Stock-based compensation | $ 7,120 | $ 7,279 | $ 28,140 | $ 23,352
Stock-based compensation expense (income), net of tax | $ 6,632 | $ 6,734 | $ 26,216 | $ 21,599
Stock-based compensation expense per basic and diluted share (in dollars per share) | $ 0.02 | $ 0.02 | $ 0.09 | $ 0.08
Employee stock-based awards, unrecognized compensation costs on nonvested awards | $ 50,152 |  | $ 50,152 |
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition |  |  | 1 year 10 months 24 days |
Stock Options |  |  |  |
Summary of Option Activity |  |  |  |
Options outstanding balance, beginning of period (in shares) |  |  | 4,271,834 |
Options granted (in shares) |  |  | 920,706 |
Options exercised (in shares) |  |  | (236,704) |
Options forfeited (in shares) |  |  | (13,542) |
Options expired (in shares) |  |  | (16,715) |
Options outstanding balance, end of period (in shares) | 4,925,579 |  | 4,925,579 |
Options exercisable balance (in shares) | 3,128,621 |  | 3,128,621 |
Options expected to vest (in shares) | 1,716,446 |  | 1,716,446 |
Restricted Stock Units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | $ 3,092 | $ 3,189 | $ 20,802 | $ 19,195
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 1,196,566 |
Granted (in shares) |  |  | 752,555 |
Vested (in shares) |  |  | (611,828) |
Forfeited (in shares) |  |  | (81,437) |
Non-vested at the end of the period (in shares) | 1,255,856 |  | 1,255,856 |
Performance units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | $ 1,176 | $ 84 | $ 7,679 | $ 3,117
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 667,101 |
Granted (in shares) |  |  | 380,856 |
Vested (in shares) |  |  | (202,141) |
Forfeited (in shares) |  |  | (28,748) |
Non-vested at the end of the period (in shares) | 817,068 |  | 817,068 |
Performance units | Two Thousand Nineteen |  |  |  |
Performance Units Disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 100.00% |  | 100.00% |
Performance units | Two Thousand Eighteen |  |  |  |
Performance Units Disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 50.00% |  | 50.00% |
Performance units | Two Thousand Seventeen |  |  |  |
Performance Units Disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 100.00% |  | 100.00% |
Original PU Awards |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 967,049 |
Granted (in shares) |  |  | 380,856 |
Vested (in shares) |  |  | (202,141) |
Forfeited (in shares) |  |  | (13,898) |
Non-vested at the end of the period (in shares) | 1,131,866 |  | 1,131,866 |
PUs Adjustment |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 299,948 |
Granted (in shares) |  |  | 0 |
Vested (in shares) |  |  | 0 |
Forfeited (in shares) |  |  | (14,850) |
Non-vested at the end of the period (in shares) | 314,798 |  | 314,798 |

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