Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Number of Options
Outstanding at beginning of the year (in shares)	597	520	652
Granted (in shares)	170	119	92
Exercised (in shares)	(22)	(35)	(56)
Forfeited/canceled/expired (in shares)	0	(7)	(168)
Outstanding at end of the year (in shares)	745	597	520
Vested and expected to vest at the end of the year (in shares)	745	597	520
Exercisable at the end of the year (in shares)	517	430	381
Weighted-Average Exercise Price
Outstanding at beginning of the year (in dollars per share)	$ 44.27	$ 42.56	$ 39.27
Granted (in dollars per share)	30.08	44.95	62.70
Exercised (in dollars per share)	20.34	24.67	25.72
Forfeited/canceled/expired (in dollars per share)	0.00	27.74	46.44
Outstanding at end of the year (in dollars per share)	41.73	44.27	42.56
Vested and expected to vest at the end of the year (in dollars per share)	41.73	44.27	42.56
Exercisable at the end of the year (in dollars per share)	$ 44.95	$ 42.30	$ 36.39
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value
Outstanding at end of the year	3 years 11 months 19 days	4 years 29 days	4 years 3 months
Vested and expected to vest at the end of the year	3 years 11 months 19 days	4 years 29 days	4 years 3 months
Exercisable at the end of the year	3 years 4 days	3 years 5 months 5 days	3 years 8 months 19 days
Exercised	$ 569	$ 744	$ 2,140
Outstanding at end of the year	9,798	758	5,607
Vested and expected to vest at the end of the year	9,798	758	5,607
Exercisable at the end of the year	$ 5,636	$ 758	$ 5,607