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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Number of Options      
Outstanding at beginning of the year (in shares) 745 597 520
Granted (in shares) 109 170 119
Exercised (in shares) (80) (22) (35)
Forfeited/canceled/expired (in shares) 0 0 (7)
Outstanding at end of the year (in shares) 774 745 597
Vested and expected to vest at the end of the year (in shares) 774 745 597
Exercisable at the end of the year (in shares) 582 517 430
Weighted-Average Exercise Price      
Outstanding at beginning of the year (in dollars per share) $ 41.73 $ 44.27 $ 42.56
Granted (in dollars per share) 46.17 30.08 44.95
Exercised (in dollars per share) 35.28 20.34 24.67
Forfeited/canceled/expired (in dollars per share) 0 0 27.74
Outstanding at end of the year (in dollars per share) 43.01 41.73 44.27
Vested and expected to vest at the end of the year (in dollars per share) 43.01 41.73 44.27
Exercisable at the end of the year (in dollars per share) $ 43.90 $ 44.95 $ 42.30
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value      
Outstanding at end of the year 3 years 8 months 15 days 3 years 11 months 19 days 4 years 29 days
Vested and expected to vest at the end of the year 3 years 8 months 15 days 3 years 11 months 19 days 4 years 29 days
Exercisable at the end of the year 2 years 11 months 23 days 3 years 3 days 3 years 5 months 4 days
Exercised $ 1,334 $ 569 $ 744
Outstanding at end of the year 9,228 9,798 758
Vested and expected to vest at the end of the year 9,228 9,798 758
Exercisable at the end of the year $ 6,887 $ 5,636 $ 758