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Share-Based Compensation - Summary of Stock Options Outstanding (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2020
$ / shares
shares
Number of Shares  
Beginning of period (in shares) | shares 2,107
Granted (in shares) | shares 215
Exercised (in shares) | shares (164)
Forfeited (in shares) | shares (12)
Expired (in shares) | shares (48)
End of period (in shares) | shares 2,098
Weighted Average Exercise Price  
Beginning of period (in dollars per share) | $ / shares $ 32.99
Granted (in dollars per share) | $ / shares 24.49
Exercised (in dollars per share) | $ / shares 17.12
Forfeited (in dollars per share) | $ / shares 37.65
Expired (in dollars per share) | $ / shares 32.12
End of period (in dollars per share) | $ / shares $ 33.35