Stock-based Compensation - Other (Details) shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2021 USD ($) item shares	Mar. 31, 2020 USD ($) shares
Stock-Based Compensation
Number of stock based compensation plans | item	1
Grant date fair value | $	$ 33,414	$ 28,200
Stock-based compensation expense | $	$ 10,877	$ 12,368
Stock Options
Stock-Based Compensation
Granted (in units)	249	273
Grant date fair value | $	$ 5,116	$ 2,770
Exercised (in units)	88	180
Performance-based RSUs
Stock-Based Compensation
Granted (in units)	310	422
Grant date fair value | $	$ 18,234	$ 14,768
Vested (in units)	640	603
Time-based RSUs
Stock-Based Compensation
Granted (in units)	171	304
Grant date fair value | $	$ 10,064	$ 10,662
Vested (in units)	305	348