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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)