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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 8,946 | $ 7,120 | $ 35,618 | $ 28,140
Unrecognized compensation cost | 49,492 |  | 49,492 |
Restricted Stock Units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | 2,766 | 3,092 | 24,411 | 20,802
Performance units |  |  |  |
Summary of Option Activity |  |  |  |
Total fair value of shares or units vested | $ 1,370 | $ 1,176 | $ 12,421 | $ 7,679
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% |

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