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Stock-based Compensation (Details 7) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Stock Option Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee Service Share-based Compensation, Tax Benefit Realized from Exercise of Stock Options (Deprecated 2017-01-31) $ 2,600 $ 4,800 $ 8,700
Total fair value of awards vested 345 1,340 2,529
Total intrinsic value of options exercised $ 2,108 $ 16,124 $ 24,652
Restricted Stock Unit Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average grant date fair value per share $ 43.67 $ 50.31 $ 52.79
Total fair value of awards granted $ 48,752 $ 51,578 $ 40,675
Total fair value of awards vested $ 40,961 $ 39,287 $ 48,705
Performance-based restricted stock unit [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Restricted stock units granted 98 158 177
Weighted average grant date fair value per share $ 42.51 $ 49.57 $ 52.32
Total fair value of awards granted $ 4,200    
Employee Stock Purchase Plan (ESPP)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average grant date fair value per share $ 10.96 $ 11.72 $ 10.01
Total fair value of shares estimated to be issued $ 3,182 $ 2,399 $ 1,330