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Equity Compensation Plans and Share-Based Compensation - Warranty and Options Activity (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding, Weighted Average Exercise Price [Roll Forward]      
Weighted-Average Exercise Price - Exercisable at end of year $ 38    
Stock Options and Warrants      
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding [Roll Forward]      
Underlying Shares - Outstanding at beginning of year 70 80 90
Underlying Shares - Exercised (60) (10) (10)
Underlying Shares - Outstanding at end of year 10 70 80
Underlying Shares - Exercisable at end of year 0 40 30
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 $ 38.86 $ 39.00 $ 39.11
Weighted-Average Exercise Price - Exercised 39.00 40.00 40.00
Weighted-Average Exercise Price - Outstanding at end of year 38.00 38.86 39.00
Weighted-Average Exercise Price - Exercisable at end of year $ 0 $ 39.00 $ 39.33