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Stock-based Compensation Expense - Additional Information (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share Based Compensation [Line Items] |  |  |
Common stock authorized for non-employee directors (in shares) | 150,000,000 | 150,000,000 |
Stock-based compensation | $ 19,306,000 | $ 21,284,000 | $ 18,506,000
Stock-based compensation and other | 22,837,000 | 19,680,000 | 15,228,000
Tax benefits recognized related to stock based compensation | $ 2,400,000 | $ 3,200,000 | $ 2,600,000
Stock options granted during the period (in shares) | 76,221 | 95,639 | 63,259
Proceeds from stock option exercised | $ 40,437,000 | $ 4,814,000 | $ 3,633,000
Stock Incentive Plan Twenty Seventeen |  |  |
Share Based Compensation [Line Items] |  |  |
Shares available for grant (in shares) | 3,754,334 |  |
Stock Incentive Plan Twenty Seventeen | Maximum |  |  |
Share Based Compensation [Line Items] |  |  |
Number of shares available for issuance under incentive plan (in shares) | 4,500,000 |  |
Non Employee Directors, Plan |  |  |
Share Based Compensation [Line Items] |  |  |
Common stock authorized for non-employee directors (in shares) | 500,000 |  |
Shares available for grant (in shares) | 345,405 |  |
Non Employee Directors, Plan | Maximum |  |  |
Share Based Compensation [Line Items] |  |  |
Fair market value of shares issued per director per year | $ 150,000 |  |
Stock Options |  |  |
Share Based Compensation [Line Items] |  |  |
Share-based awards vesting period | 3 years |  |
Stock options, term | 10 years |  |
Intrinsic value of stock options exercised | $ 31,300,000 | 8,100,000 | 6,200,000
Compensation cost not yet recognized for nonvested share | $ 1,600,000 |  |
Remaining weighted average period for recognition of compensation cost years | 1 year 9 months 18 days |  |
Proceeds from stock option exercised | $ 40,400,000 |  |
Tax benefit from stock option exercised | 7,100,000 |  |
Restricted Stock And Restricted Stock Units |  |  |
Share Based Compensation [Line Items] |  |  |
Compensation cost not yet recognized for nonvested share | $ 14,400,000 |  |
Remaining weighted average period for recognition of compensation cost years | 2 years |  |
Weighted average grant date fair value | $ 13,300,000 | 10,400,000 | 10,900,000
Weighted average fair value of awards vested in period | $ 9,000,000.0 | 7,500,000 | 4,900,000
Restricted Stock And Restricted Stock Units | Minimum |  |  |
Share Based Compensation [Line Items] |  |  |
Share-based awards vesting period | 1 year |  |
Restricted Stock And Restricted Stock Units | Maximum |  |  |
Share Based Compensation [Line Items] |  |  |
Share-based awards vesting period | 5 years |  |
Performance Unit Awards |  |  |
Share Based Compensation [Line Items] |  |  |
Compensation cost not yet recognized for nonvested share | $ 10,000,000.0 |  |
Remaining weighted average period for recognition of compensation cost years | 1 year 6 months |  |
Weighted average grant date fair value | $ 8,700,000 | 10,800,000 | 10,900,000
Weighted average fair value of awards vested in period | $ 3,000,000.0 | $ 11,700,000 | $ 20,000,000.0
Number of common stock share for each performance unit (in shares) | 1 |  |
Performance Unit Awards | Minimum |  |  |
Share Based Compensation [Line Items] |  |  |
Performance unit award payout percentage | 0.00% |  |
Specific performance criteria period | 1 year |  |
Performance Unit Awards | Maximum |  |  |
Share Based Compensation [Line Items] |  |  |
Performance unit award payout percentage | 200.00% |  |
Specific performance criteria period | 3 years |  |
Two Year Measurement Period |  |  |
Share Based Compensation [Line Items] |  |  |
Percentage of award distributed | 50.00% |  |
One Year Vesting Period Thereafter |  |  |
Share Based Compensation [Line Items] |  |  |
Percentage of award distributed | 50.00% |  |

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