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Stockholders' Equity - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Oct. 31, 2019
Jan. 31, 2019
Class of Stock [Line Items]        
Common stock, shares authorized (in shares) 153,000,000.0 153,000,000.0    
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 | January 2019 and October 2019 Programs        
Class of Stock [Line Items]        
Stock repurchase plan, number of remaining shares to be repurchased (in shares) 1,900,000      
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
Preferred Stock        
Class of Stock [Line Items]        
Preferred stock, shares authorized (in shares) 5,000,000.0