Stock-Based Compensation - Stock Options by Range of Exercise Prices (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding, number of options (in shares) | shares	363
Options outstanding, weighted average exercise price (in dollars per share)	$ 34.42
Options outstanding, weighted average remaining contractual life (in years)	2 years
Options exercisable, number of options (in shares) | shares	362
Options exercisable, weighted average exercise price (in dollars per share)	$ 34.40
Options exercisable, weighted average remaining contractual life (in years)	2 years
$5.05 - $19.26
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, lower range limit (in dollars per share)	$ 5.05
Exercise price range, upper range limit (in dollars per share)	$ 19.26
Options outstanding, number of options (in shares) | shares	7
Options outstanding, weighted average exercise price (in dollars per share)	$ 16.85
Options outstanding, weighted average remaining contractual life (in years)	1 year
Options exercisable, number of options (in shares) | shares	7
Options exercisable, weighted average exercise price (in dollars per share)	$ 16.85
Options exercisable, weighted average remaining contractual life (in years)	1 year
$24.33 - $36.50
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, lower range limit (in dollars per share)	$ 24.33
Exercise price range, upper range limit (in dollars per share)	$ 36.50
Options outstanding, number of options (in shares) | shares	338
Options outstanding, weighted average exercise price (in dollars per share)	$ 34.28
Options outstanding, weighted average remaining contractual life (in years)	2 years
Options exercisable, number of options (in shares) | shares	338
Options exercisable, weighted average exercise price (in dollars per share)	$ 34.28
Options exercisable, weighted average remaining contractual life (in years)	2 years
$39.75 - $59.63
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, lower range limit (in dollars per share)	$ 39.75
Exercise price range, upper range limit (in dollars per share)	$ 59.63
Options outstanding, number of options (in shares) | shares	18
Options outstanding, weighted average exercise price (in dollars per share)	$ 44.53
Options outstanding, weighted average remaining contractual life (in years)	2 years 10 months 24 days
Options exercisable, number of options (in shares) | shares	17
Options exercisable, weighted average exercise price (in dollars per share)	$ 44.42
Options exercisable, weighted average remaining contractual life (in years)	2 years 10 months 24 days