Commitments and Contingencies - Deferred Compensation Plans (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Commitments and Contingencies Disclosure [Abstract]
Contributions by employer	$ 300,000	$ 200,000	$ 800,000	$ 700,000
Employer discretionary contribution amount			0	0
Deferred compensation liability, noncurrent	68,200,000		68,200,000		$ 58,200,000
Life insurance	68,600,000		68,600,000		$ 56,500,000
Fair market value of assets associated with deferred compensation plan	3,900,000	6,500,000	5,500,000	(900,000)
Fair market value of liabilities associated with deferred compensation plan	$ 3,600,000	$ 6,400,000	$ 6,000,000.0	$ (1,400,000)