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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%