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Stock Plans - Schedule of Stock Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Share-based Payment Arrangement [Abstract] |  |  |  |
Stock compensation expense | $ 830 | $ 3,340 | $ 4,352 | $ 6,086
Income tax benefit | 202 | 815 | 1,062 | 1,485
Stock compensation expense, net of income tax benefit | $ 628 | $ 2,525 | $ 3,290 | $ 4,601

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