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Stockholders' Equity - Schedule of Stock Repurchases (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Class of Stock [Line Items]      
Total cost $ 105,941 $ 55,738 $ 168,094
2016 Stock Repurchase Program      
Class of Stock [Line Items]      
Shares of common stock repurchased and retired (in shares) 1,258 756 4,674
Average price per share (in dollars per share) $ 84.16 $ 53.88 $ 35.94
Total cost $ 105,915 $ 40,722 $ 168,001