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Stock Incentive Plans - Employee Stock Purchase Plan (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Share-based compensation expense for ESPP | $ 8,179 | $ 7,852
ESPP | Continuing Operations |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Shares purchased by participants under the ESPP (in shares) | 5 | 6
Average share price (in dollars per share) | $ 68.76 | $ 44.84
Weighted-average fair value of each purchase right under the ESPP granted (in dollars per share) | $ 20.99 | $ 4.98
Share-based compensation expense for ESPP | $ 118 | $ 30
ESPP | Discontinued Operations |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Shares purchased by participants under the ESPP (in shares) | 0 | 1
Average share price (in dollars per share) | $ 0 | $ 44.84
Weighted-average fair value of each purchase right under the ESPP granted (in dollars per share) | $ 0 | $ 4.98
Share-based compensation expense for ESPP | $ 0 | $ 3

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