Equity and Cash Incentive Programs - Non-Qualified Stock Options (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
Shares
Options outstanding, balance at the beginning of the period (in shares) | shares	7,175,040
Options granted (in shares) | shares	0
Options forfeited/expired (in shares) | shares	(39,990)
Options exercised (in shares) | shares	(1,646,397)
Options outstanding, balance at the end of the period (in shares) | shares	5,488,653
Weighted Average Exercise Price
Options outstanding, balance at the beginning of the period (in dollars per share) | $ / shares	$ 6.01
Options granted (in dollars per share) | $ / shares	0
Options forfeited/expired (in dollars per share) | $ / shares	7.54
Options exercised (in dollars per share) | $ / shares	5.38
Options outstanding, balance at the end of the period (in dollars per share) | $ / shares	$ 6.18
Weighted-average remaining contractual term, outstanding at end of period (in years)	5 years
Aggregate intrinsic value, at end of period | $	$ 75,984
Options exercisable (in shares) | shares	5,487,875
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 6.18
Options exercisable, weighted average remaining contractual term (in years)	5 years
Aggregate intrinsic value, options | $	$ 75,975