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Stock-based Compensation Plans and Awards - Stock Incentive Plans (Details) - shares
shares in Thousands
12 Months Ended
Aug. 05, 2010
Dec. 31, 2019
Jun. 11, 2015
Stock Options      
Stock-based Compensation      
Award term   10 years  
2010 Plan      
Stock-based Compensation      
Awards authorized (in shares)     5,600
Increase in awards available for grant   1,200  
Increase in awards available for grant, percent of total shares outstanding   5.00%  
Number of awards available for grant (in shares)   2,300  
2006 Plan      
Stock-based Compensation      
Awards available for grant canceled (in shares) 60    
Minimum | Stock Options      
Stock-based Compensation      
Vesting period   3 years  
Minimum | Restricted stock units (RSUs)      
Stock-based Compensation      
Vesting period   3 years  
Maximum | Stock Options      
Stock-based Compensation      
Vesting period   4 years  
Maximum | Restricted stock units (RSUs)      
Stock-based Compensation      
Vesting period   4 years