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Stock-based Compensation (Details 3) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Restricted Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved for future issuance under all of the stock incentive plans 4,967,000    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested [Roll Forward]      
Outstanding at beginning of period 1,876,000    
Granted 1,116,000    
Vested (825,000)    
Forfeited (275,000)    
Outstanding at end of period 1,892,000 1,876,000  
Weighted Average Grant-Date Fair Value      
Outstanding at beginning of period $ 47.08    
Granted 43.67    
Vested 43.64    
Forfeited 48.73    
Outstanding at end of period $ 45.70 $ 47.08  
Employee Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved for future issuance under all of the stock incentive plans 1,136,841    
Weighted Average Grant-Date Fair Value      
Granted $ 10.96 $ 11.72 $ 10.01
Time-vested restricted stock unit      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested [Roll Forward]      
Granted 1,018,000 867,000 594,000
Performance-based restricted stock unit [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested [Roll Forward]      
Granted 98,000 158,000 177,000