Earnings Per Share - Share-based Compensation (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total exercised or released (in shares)	43,050	35,722	1,061,645	1,372,679
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercised (in shares)	21,864	6,953	261,703	27,794
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercised (in shares)	21,186	28,769	525,226	1,002,003
Performance Share Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercised (in shares)	0	0	274,716	342,882