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Stock-Based Awards - Schedule of Stock Options Outstanding and Exercisable (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2016
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding, number of options (in shares) 6,041
Options outstanding, weighted average remaining contractual life 6 years 2 months 16 days
Options exercisable, number of options (in shares) 4,899
Options exercisable, weighted average remaining contractual life 5 years 10 months 9 days
$0.34 to $1.65  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 0.34
Range of exercise prices, upper (in usd per share) | $ / shares $ 1.65
Options outstanding, number of options (in shares) 194
Options outstanding, weighted average remaining contractual life 2 years 3 months 15 days
Options exercisable, number of options (in shares) 194
Options exercisable, weighted average remaining contractual life 2 years 3 months 15 days
$5.93 to $8.88  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 5.93
Range of exercise prices, upper (in usd per share) | $ / shares $ 8.88
Options outstanding, number of options (in shares) 813
Options outstanding, weighted average remaining contractual life 3 years 10 months 10 days
Options exercisable, number of options (in shares) 813
Options exercisable, weighted average remaining contractual life 3 years 10 months 10 days
$12.54 to $15.41  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 12.54
Range of exercise prices, upper (in usd per share) | $ / shares $ 15.41
Options outstanding, number of options (in shares) 168
Options outstanding, weighted average remaining contractual life 4 years 8 months 7 days
Options exercisable, number of options (in shares) 168
Options exercisable, weighted average remaining contractual life 4 years 8 months 7 days
$16.24 to $18.82  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 16.24
Range of exercise prices, upper (in usd per share) | $ / shares $ 18.82
Options outstanding, number of options (in shares) 340
Options outstanding, weighted average remaining contractual life 5 years 4 days
Options exercisable, number of options (in shares) 340
Options exercisable, weighted average remaining contractual life 5 years 4 days
$20.85 to $23.94  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 20.85
Range of exercise prices, upper (in usd per share) | $ / shares $ 23.94
Options outstanding, number of options (in shares) 618
Options outstanding, weighted average remaining contractual life 5 years 4 months 13 days
Options exercisable, number of options (in shares) 618
Options exercisable, weighted average remaining contractual life 5 years 4 months 13 days
$27.55 to $31.44  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 27.55
Range of exercise prices, upper (in usd per share) | $ / shares $ 31.44
Options outstanding, number of options (in shares) 263
Options outstanding, weighted average remaining contractual life 6 years 5 months 23 days
Options exercisable, number of options (in shares) 222
Options exercisable, weighted average remaining contractual life 6 years 2 months 16 days
$31.64 to $36.15  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 31.64
Range of exercise prices, upper (in usd per share) | $ / shares $ 36.15
Options outstanding, number of options (in shares) 922
Options outstanding, weighted average remaining contractual life 7 years 8 months 12 days
Options exercisable, number of options (in shares) 554
Options exercisable, weighted average remaining contractual life 7 years 2 months 23 days
$38.03 to $45.76  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 38.03
Range of exercise prices, upper (in usd per share) | $ / shares $ 45.76
Options outstanding, number of options (in shares) 1,220
Options outstanding, weighted average remaining contractual life 7 years 22 days
Options exercisable, number of options (in shares) 899
Options exercisable, weighted average remaining contractual life 6 years 10 months 24 days
$46.20 to $56.05  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower (in usd per share) | $ / shares $ 46.20
Range of exercise prices, upper (in usd per share) | $ / shares $ 56.05
Options outstanding, number of options (in shares) 1,503
Options outstanding, weighted average remaining contractual life 7 years 1 month 13 days
Options exercisable, number of options (in shares) 1,091
Options exercisable, weighted average remaining contractual life 7 years 26 days