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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation expense $ 22,699 $ 20,145 $ 33,652 $ 26,672
Unrecognized compensation cost $ 64,444   $ 64,444  
Two Thousand Twenty One        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 133.00%   133.00%  
Two Thousand Twenty        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 114.00%   114.00%  
Two Thousand Nineteen        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 103.00%   103.00%  
Restricted Stock Units        
Summary of Option Activity        
Total fair value of shares or units vested $ 3,118 3,266 $ 22,979 21,645
Performance units        
Summary of Option Activity        
Total fair value of shares or units vested $ 235 $ 161 $ 5,826 $ 11,051