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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Employee Stock-Based Awards    
Stock-based compensation $ 6,527 $ 8,519
Stock-based compensation expense (income), net of tax $ 6,065 $ 7,935
Stock-based compensation expense per basic and diluted share (in dollars per share) $ 0.02 $ 0.03
Employee stock-based awards, unrecognized compensation costs on nonvested awards $ 73,265  
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition 2 years 1 month 6 days  
Stock Options    
Summary of Option Activity    
Options outstanding balance, beginning of period (in shares) 4,835,721  
Options granted (in shares) 589,993  
Options exercised (in shares) (135,312)  
Options forfeited (in shares) (65,861)  
Options expired (in shares) (40,749)  
Options outstanding balance, end of period (in shares) 5,183,792  
Options exercisable balance (in shares) 3,786,186  
Options expected to vest (in shares) 1,320,231  
Restricted Stock Units    
Summary of Option Activity    
Total fair value of shares or units vested $ 18,379 $ 15,333
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options    
Non-vested at the beginning of the period (in shares) 1,203,599  
Granted (in shares) 866,416  
Vested (in shares) (526,086)  
Forfeited (in shares) (32,661)  
Non-vested at the end of the period (in shares) 1,511,268  
RSUs expected to vest (in shares) 1,480,838  
Performance units    
Summary of Option Activity    
Total fair value of shares or units vested $ 10,890 $ 6,503
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options    
Non-vested at the beginning of the period (in shares) 798,893  
Granted (in shares) 425,777  
Vested (in shares) (271,452)  
Forfeited (in shares) (41,671)  
Non-vested at the end of the period (in shares) 911,547  
Performance units | Two Thousand Nineteen    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 100.00%  
Performance units | Two Thousand Eighteen    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 100.00%  
Performance units | Two Thousand Seventeen    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 0.00%  
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) 1,113,691  
Granted (in shares) 425,777  
Vested (in shares) (271,452)  
Forfeited (in shares) (36,961)  
Non-vested at the end of the period (in shares) 1,231,055  
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) (314,798)  
Granted (in shares) 0  
Vested (in shares) 0  
Forfeited (in shares) (4,710)  
Non-vested at the end of the period (in shares) (319,508)