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Stock-Based Compensation - Significant Option Groups Outstanding and Related Weighted Average Exercise Price and Life Information (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Options Outstanding
Number outstanding (in shares)	774	745	597	520
Weighted-average remaining contractual term (in years)	3 years 8 months 15 days	3 years 11 months 19 days	4 years 29 days
Weighted average exercise price (in dollars per share)	$ 43.01	$ 41.73	$ 44.27	$ 42.56
Options Exercisable
Number exercisable (in shares)	582	517	430
Weighted-average exercise price (in dollars per share)	$ 43.90	$ 44.95	$ 42.30
Exercise price range 1
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	19.25
Range of exercise prices, upper range limit (in dollars per share)	$ 27.07
Options Outstanding
Number outstanding (in shares)	263
Weighted-average remaining contractual term (in years)	3 years 8 months 19 days
Weighted average exercise price (in dollars per share)	$ 23.83
Options Exercisable
Number exercisable (in shares)	200
Weighted-average exercise price (in dollars per share)	$ 22.82
Exercise price range 2
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	35.28
Range of exercise prices, upper range limit (in dollars per share)	$ 46.17
Options Outstanding
Number outstanding (in shares)	229
Weighted-average remaining contractual term (in years)	5 years 5 months 8 days
Weighted average exercise price (in dollars per share)	$ 45.47
Options Exercisable
Number exercisable (in shares)	113
Weighted-average exercise price (in dollars per share)	$ 44.84
Exercise price range 3
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	51.38
Range of exercise prices, upper range limit (in dollars per share)	$ 65.54
Options Outstanding
Number outstanding (in shares)	282
Weighted-average remaining contractual term (in years)	2 years 7 months 9 days
Weighted average exercise price (in dollars per share)	$ 58.85
Options Exercisable
Number exercisable (in shares)	269
Weighted-average exercise price (in dollars per share)	$ 59.15

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Stock Options Exercisable [Abstract]

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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-Publisher FASB
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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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