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Stock Plans - Option Exercise Ranges (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Options Outstanding      
Options Outstanding, Shares 730    
Weighted Average Remaining Contractual Life 1 year 4 months 24 days    
Options Outstanding and Exercisable      
Weighted Average Exercise Price (in dollars per share) $ 35.26    
Unvested options outstanding (in shares) 0 0 0
Exercised (in shares) 0 0 0
$20.00 - $30.00      
Stock plans      
Exercise price, low end of range (in dollars per share) $ 20.00    
Exercise price, high end of range (in dollars per share) $ 30.00    
Options Outstanding      
Weighted Average Remaining Contractual Life 2 years 1 month 6 days    
Options Outstanding and Exercisable      
Outstanding and Exercisable (in shares) 16    
Weighted Average Exercise Price (in dollars per share) $ 28.68    
$30.01 - $40.00      
Stock plans      
Exercise price, low end of range (in dollars per share) 30.01    
Exercise price, high end of range (in dollars per share) $ 40.00    
Options Outstanding and Exercisable      
Outstanding and Exercisable (in shares) 600    
Weighted Average Remaining Contractual life 1 year 6 months    
Weighted Average Exercise Price (in dollars per share) $ 32.34    
$40.01 - $50.00      
Stock plans      
Exercise price, low end of range (in dollars per share) 40.01    
Exercise price, high end of range (in dollars per share) $ 50.00    
Options Outstanding      
Weighted Average Remaining Contractual Life 3 months 18 days    
Options Outstanding and Exercisable      
Outstanding and Exercisable (in shares) 5    
Weighted Average Exercise Price (in dollars per share) $ 47.95    
$50.01 - $60.00      
Stock plans      
Exercise price, low end of range (in dollars per share) 50.01    
Exercise price, high end of range (in dollars per share) $ 60.00    
Options Outstanding      
Weighted Average Remaining Contractual Life 4 months 24 days    
Options Outstanding and Exercisable      
Outstanding and Exercisable (in shares) 109    
Weighted Average Exercise Price (in dollars per share) $ 51.69