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Employee Stock Purchase Plan, Stock Options and Warrants - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Compensation cost not yet recognized |  | $ 25.4 |  |
Compensation cost not yet recognized, period of recognition |  | 2 years 6 months |  |
Options granted in period (in shares) |  | 329,000 | 1,200,000 | 692,000
Fair value of options, net of forfeitures |  | $ 4.5 | $ 20.9 | $ 11.1
Options granted in period, weighted average grant date fair value (in dollars per share) |  | $ 13.70 | $ 16.78 | $ 16.05
Stock-Settled Performance-Based Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Compensation cost not yet recognized |  | $ 2.5 |  |
Compensation cost not yet recognized, period of recognition |  | 1 year 4 months 24 days |  |
Weighted average grant-date fair value (in dollars per share) |  | $ 43.60 |  |
Restricted stock units granted (in shares) |  | 122,000 | 0 | 0
Restricted stock units vested (in shares) |  |  | 0 | 0
Number of shares of common stock for each unit |  | 1 |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 75.00% |  |
Number of shares of common stock for each unit |  | 0.75 |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 125.00% |  |
Number of shares of common stock for each unit |  | 1.25 |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Decrease in the potential shares of common stock to be granted | 25,415 |  |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 0.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 100.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 2 years |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 0.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 200.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 | FCF | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 0.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 200.00% |  |
Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Compensation cost not yet recognized |  | $ 0.7 |  |
Compensation cost not yet recognized, period of recognition |  | 6 months |  |
Weighted average grant-date fair value (in dollars per share) |  | $ 42.98 |  |
Restricted stock units granted (in shares) |  | 34,000 | 0 | 0
Restricted stock units vested (in shares) |  |  | 0 | 0
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Target cash incentive |  | $ 1.0 |  |
Compensation cost not yet recognized |  | $ 1.0 |  |
Compensation cost not yet recognized, period of recognition |  | 1 year 6 months |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 125.00% |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 2 years |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 250.00% |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 250.00% |  |
2018 Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant (in shares) |  | 1,297,062 |  |
2018 Incentive Plan | Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Option contractual life |  | 7 years |  |
2018 Incentive Plan | Stock Options | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
2018 Incentive Plan | Stock Options | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 5 years |  |
ESPP |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant (in shares) |  | 40,073 |  |
Purchase price for ESPP, percent of market price |  | 95.00% |  |

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