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Share-based Compensation and Equity - Equity Award Modifications (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise prices (in dollars per share) $ 17.85 $ 18.18 $ 18.79 $ 19.30
Number of stock options outstanding (in shares) 3,428 5,388 9,020 9,903
Stock compensation expense $ 13,298 $ 12,994 $ 10,791  
Stock compensation expense not yet recognized, options $ 821