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Common Stock - Sales, Repurchases, and Issuances of Company Capital Stock Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Apr. 23, 2018
Sep. 30, 2016
Class of Stock [Line Items]          
Profit-sharing plan shares, net, value $ 6,970,000 $ 2,417,000 $ 3,387,000    
Common Stock          
Class of Stock [Line Items]          
Stock repurchased during period (in shares) 549,834 318,203 465,979    
Shares exercised (in shares) 4,060,839 3,214,542 2,812,998    
Profit-sharing plan shares, net, value $ 5,000 $ 3,000 $ 5,000    
Deferred Compensation, Share-based Payments [Member] | Deferred Profit Sharing          
Class of Stock [Line Items]          
Stock repurchased during period (in shares) 549,834 318,203 465,979    
Profit-sharing plan shares, net, value $ 6,970,000 $ 2,417,000 $ 3,387,000    
Performance Based Restricted Stock Units (RSUs), 2016 | Equity Incentive Plan          
Class of Stock [Line Items]          
Shares repurchased by Company after exercise $ 1,454,000 $ 8,838,000 $ 8,571,000    
Shares repurchased by Company after exercise (in shares) 128,007 1,126,747 1,131,928    
Class B Common Stock          
Class of Stock [Line Items]          
Amount authorized for purchase $ 250,000,000     $ 250,000,000 $ 200,000,000
Stock repurchased during period (in shares) 3,769,346        
Class B Common Stock | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits          
Class of Stock [Line Items]          
Share-based compensation tax withholding payment $ 4,625,000 $ 5,609,000 $ 6,861,000    
Deferred compensation arrangement with individual, shares issued (in shares) 3,081,607 2,322,983 2,332,585    
Deferred compensation arrangement with individual, shares issued, gross (in shares) 3,352,931 3,082,607 3,340,904    
Shares withheld for tax withholding obligation (in shares) 271,324 759,624 1,008,319    
Class B Common Stock | Common Stock          
Class of Stock [Line Items]          
Shares exercised, net of shares withheld (in shares)   3,214,542 2,812,998    
Shares exercised (in shares)   4,731,158 3,726,606    
Shares issued for cash (in shares)   1,273,271 1,235,204    
Shares withheld for cost of options and tax withholding obligation   1,516,616 913,608    
Class B Common Stock | Stock Option          
Class of Stock [Line Items]          
Shares exercised, net of shares withheld (in shares) 4,060,839        
Shares exercised (in shares) 5,486,191        
Shares issued for cash (in shares) 1,063,204        
Shares withheld for cost of options and tax withholding obligation 1,425,352        
Cash used to settle award $ 9,128,000        
Share-based compensation tax withholding payment $ 4,755,000 $ 2,324,000 $ 1,577,000    
Class B Common Stock | Stock Option | Common Stock          
Class of Stock [Line Items]          
Cash used to settle award   $ 3,627,000 $ 2,187,000    
Private Placement | Class B Common Stock          
Class of Stock [Line Items]          
Number of shares sold (in shares) 4,574,399 791,873 5,151,019    
Stock repurchased during period (in shares)   622,873 2,139,466    
Sale of stock, consideration received $ 58,349,000 $ 4,510,000 $ 16,220,000    
Private Placement, Direct Investor Investment | Class B Common Stock          
Class of Stock [Line Items]          
Number of shares sold (in shares) 805,053 169,000 3,011,553    
Sale of stock, consideration received $ 12,462,000 $ 1,224,000 $ 22,792,000