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Equity Compensation Plans and Share-Based Compensation - Warranty and Options Activity (Details) - Stock Options and Warrants - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding [Roll Forward]      
Underlying Shares - Outstanding at beginning of year 80 90 103
Underlying Shares - Exercised (10) (10) (13)
Underlying Shares - Outstanding at end of year 70 80 90
Underlying Shares - Exercisable at end of year 40 30 20
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding, Weighted Average Exercise Price [Roll Forward]      
Weighted-Average Exercise Price - Outstanding at beginning of year $ 39.00 $ 39.11 $ 37.34
Weighted-Average Exercise Price - Exercised 40.00 40.00 24.57
Weighted-Average Exercise Price - Outstanding at end of year 38.86 39.00 39.11
Weighted-Average Exercise Price - Exercisable at end of year $ 39.00 $ 39.33 $ 40.00