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Stock Benefit Plans - Stock Option Activity (Details) - Long Term Incentive Plan - Stock Options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding      
Options outstanding at the beginning of the period (in shares) 5,380    
Granted (in shares) 1,971 1,500 1,900
Exercised (in shares) (441)    
Canceled or exchanged (in shares) (50)    
Forfeited (in shares) (452)    
Expired (in shares) 0    
Options outstanding at the end of the period (in shares) 6,408 5,380  
Vested and expected to vest at the end of the period (in shares) 6,122    
Options exercisable at end of the period (in shares) 3,066    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price      
Outstanding, Weighted average exercise price at the beginning of the period (in dollars per share) $ 50.60    
Grants in period, Weighted average exercise price (in dollars per share) 56.15    
Exercised, Weighted average exercise price (in dollars per share) 39.70    
Canceled or exchanged, Weighted average exercise price (in dollars per share) 51.83    
Forfeited, Weighted average exercise price (in dollars per share) 59.41    
Expired, Weighted average exercise price (in dollars per share) 0    
Outstanding, Weighted average exercise price at the end of the period (in dollars per share) 52.42 $ 50.60  
Vested and expected to vest, Weighted average exercise price (in dollars per share) 52.08    
Options exercisable at period end, Weighted average exercise price (in dollars per share) $ 46.59    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Weighted Average Remaining Contractual Term      
Balance at the end of the period, Weighted average remaining contractual term 6 years 10 months 28 days    
Vested and expected to vest at the end of the period, Weighted average remaining contractual term 6 years 9 months 21 days    
Options exercisable at the end of the period. Weighted average remaining contractual term 4 years 7 months 20 days    
Share Based Compensation Arrangement by Share Based Payment Award, Options, Intrinsic Value      
Balance at the end of the period, Aggregate Intrinsic Value $ 15,776    
Vested and expected to vest at the end of the period, Aggregate Intrinsic Value 15,776    
Options exercisable at the end of the period, Aggregate Intrinsic Value $ 15,776