Stock-Based Compensation - Restricted Stock, Restricted Stock Unit and Stock Option Activity, Terms and Significant Assumptions for Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
RSUs
Restricted Stock Units or Restricted Stock, Number
Beginning balance (in shares)	1,366,491	1,911,712	2,258,594
Granted (in shares)	432,654	415,356	596,391
Forfeited or expired (in shares)	(4,897)	(2,937)	(132,713)
Vested/exercised (in shares)	(869,753)	(957,640)	(810,560)
Ending balance (in shares)	924,495	1,366,491	1,911,712
Restricted Stock Units or Restricted Stock, Weighted Average Grant Date Fair Value Per Share
Beginning balance (in dollars per share)	$ 15.33	$ 17.16	$ 21.76
Granted (in dollars per share)	34.88	22.36	18.67
Forfeited or expired (in dollars per share)	35.76	25.55	18.78
Vested/exercised (in dollars per share)	13.21	22.01	30.83
Ending balance (in dollars per share)	$ 26.36	$ 15.33	$ 17.16
Stock Options
Stock Options, Number
Beginning balance (in shares)	4,677,564	5,490,926	5,752,932
Granted (in shares)	178,434	250,656	481,626
Forfeited or expired (in shares)	(525,994)	(846,621)	(659,216)
Vested/exercised (in shares)	(198,455)	(217,397)	(84,416)
Ending balance (in shares)	4,131,549	4,677,564	5,490,926
Options exercisable (in shares)	3,514,925
Remaining unvested options outstanding and expected to vest (in shares)	610,458
Stock Options, Weighted Average Exercise Price Per Share
Beginning balance (in dollars per share)	$ 37.41	$ 40.95	$ 44.40
Granted (in dollars per share)	35.76	21.90	17.96
Forfeited or expired (in dollars per share)	61.06	61.46	58.37
Vested/exercised (in dollars per share)	12.64	15.20	8.81
Ending balance (in dollars per share)	35.52	$ 37.41	$ 40.95
Options exercisable (in dollars per share)	37.56
Remaining unvested options outstanding and expected to vest (in dollars per share)	$ 23.93