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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation expense $ 10,953 $ 6,527
Unrecognized compensation cost $ 80,625  
Two Thousand Twenty One    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 100.00%  
Two Thousand Twenty    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 100.00%  
Two Thousand Nineteen    
Performance Units Disclosure    
Percentage of achievement of the predefined revenue and ROIC targets 100.00%  
Restricted Stock Units    
Summary of Option Activity    
Total fair value of shares or units vested $ 19,861 18,379
Performance units    
Summary of Option Activity    
Total fair value of shares or units vested $ 5,591 $ 10,890