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Stock-Based Compensation - Stock Appreciation Rights (Details) - Stock Appreciation Rights SARS
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2020
USD ($)
$ / shares
shares
Number of Rights  
OUTSTANDING AT DECEMBER 31, 2019 (shares) | shares 1,572
Shares granted (shares) | shares 287
Exercised (shares) | shares (448)
Forfeited (shares) | shares (26)
Canceled (shares) | shares (2)
OUTSTANDING AT DECEMBER 31, 2020 (shares) | shares 1,383
EXERCISABLE AT DECEMBER 31, 2020 (shares) | shares 980
Weighted Average Exercise Price (USD per share)  
OUTSTANDING AT DECEMBER 31, 2019 (USD per share) | $ / shares $ 110.66
Granted (USD per share) | $ / shares 146.22
Exercised (USD per share) | $ / shares 105.51
Forfeited (USD per share) | $ / shares 127.36
Canceled (USD per share) | $ / shares 126.63
OUTSTANDING AT DECEMBER 31, 2020 (USD per Share) | $ / shares 119.37
EXCERCISABLE AT DECEMBER 31, 2020 (USD per share) | $ / shares $ 112.83
Weighted average remaining contractual term, outstanding 6 years 10 months 24 days
Weighted average remaining contractual term, exercisable 6 years 1 month 6 days
Aggregate intrinsic value, outstanding | $ $ 51,741
Aggregate intrinsic value, exercisable | $ $ 43,057