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Stockholders' Equity - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Oct. 31, 2019
Jan. 31, 2019
Dec. 31, 2018
Jan. 31, 2018
Class of Stock [Line Items]          
Common stock, shares authorized (in shares) 153,000,000     153,000,000  
Equity Distribution Program          
Class of Stock [Line Items]          
Proceeds from issuance of common stock $ 500,000,000.0        
Stock program, maximum amount authorized $ 0        
Voting Common Stock          
Class of Stock [Line Items]          
Common stock, shares authorized (in shares) 150,000,000.0        
Common Class B          
Class of Stock [Line Items]          
Common stock, shares authorized (in shares) 3,000,000.0        
Common Stock | October 2019 Program          
Class of Stock [Line Items]          
Stock repurchase program, number of shares authorized (in shares)   6,000,000.0      
Common Stock | January 2019 Program          
Class of Stock [Line Items]          
Stock repurchase program, number of shares authorized (in shares)     3,300,000    
Common Stock | January 2018 Program          
Class of Stock [Line Items]          
Stock repurchase program, number of shares authorized (in shares)         3,400,000
Stock repurchase plan, number of remaining shares to be repurchased (in shares) 0        
Common Stock | January 2019 and October 2019 Programs          
Class of Stock [Line Items]          
Stock repurchase plan, number of remaining shares to be repurchased (in shares) 6,900,000        
Preferred Stock          
Class of Stock [Line Items]          
Preferred stock, shares authorized (in shares) 5,000,000.0