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Stockholders' Equity - Schedule of Stock Repurchases (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |
Total cost | $ 82,866 | $ 51,053 | $ 50,311 | $ 7,734 | $ 48,332 | $ 21,883 |  |
2016 Stock Repurchase Program |  |  |  |  |  |  |  |
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |
Shares of common stock repurchased and retired (in shares) | 749 |  |  | 91 |  |  | 1,670 | 999
Average price paid per share (in dollars per share) | $ 110.57 |  |  | $ 85.11 |  |  | $ 110.27 | $ 78.04
Total cost | $ 82,852 |  |  | $ 7,732 |  |  | $ 184,196 | $ 77,929

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