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Summary of Significant Accounting Policies Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Employee Stock-Based Awards |  |  |  |
Stock-based compensation expense | $ 20,145 | $ 12,501 | $ 26,672 | $ 21,020
Stock-based compensation expense, after tax | $ 18,716 | $ 11,649 | $ 24,781 | $ 19,585
Stock-based compensation expense, after tax (per basic share) | $ 0.06 | $ 0.04 | $ 0.09 | $ 0.07
Stock-based compensation expense, after tax (per diluted share) | $ 0.06 | $ 0.04 | $ 0.09 | $ 0.07
Unrecognized compensation cost | $ 57,955 |  | $ 57,955 |
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition |  |  | 2 years |
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) |  |  | (199,627) |
Options forfeited (in shares) |  |  | (127,266) |
Options expired (in shares) |  |  | (185,677) |
Options outstanding balance, end of period (in shares) | 4,913,144 |  | 4,913,144 |
Options exercisable balance (in shares) | 3,579,301 |  | 3,579,301 |
Options expected to vest (in shares) | 1,275,624 |  | 1,275,624 |
Restricted Stock Units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | $ 3,266 | $ 2,375 | $ 21,645 | $ 17,710
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) |  |  | 1,017,849 |
Vested (in shares) |  |  | (648,321) |
Forfeited (in shares) |  |  | (123,680) |
Non-vested at the end of the period (in shares) | 1,449,447 |  | 1,449,447 |
RSUs expected to vest (in shares) | 1,439,946 |  | 1,439,946 |
Performance units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | $ 161 | $ 0 | $ 11,051 | $ 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) |  |  | (275,972) |
Forfeited (in shares) |  |  | (118,577) |
Non-vested at the end of the period (in shares) | 830,121 |  | 830,121 |
Performance units | Two Thousand Twenty |  |  |  |
Performance Units Disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 100.00% |  | 100.00% |
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 | 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) |  |  | 1,113,691 |
Granted (in shares) |  |  | 425,777 |
Vested (in shares) |  |  | (275,972) |
Forfeited (in shares) |  |  | (113,867) |
Non-vested at the end of the period (in shares) | 1,149,629 |  | 1,149,629 |
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) |  | (319,508) |

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