Common Stock and Stock-Based Compensation - Share-based Compensation, Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Beginning balance (in shares)	3,331,890	3,096,161
Granted (in shares)	114,000	762,200
Exercised (in shares)	(122,847)	(149,473)
Forfeited or expired (in shares)	(508,165)	(376,998)
Ending balance (in shares)	2,814,878	3,331,890	3,096,161
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Beginning balance (in dollars per share)	$ 59.20	$ 59.29
Granted (in dollars per share)	46.74	55.76
Exercised (in dollars per share)	27.64	24.43
Forfeited or expired (in dollars per share)	62.00	66.71
Ending balance (in dollars per share)	$ 58.51	$ 59.20	$ 59.29
Non- Exercisable options outstanding (in shares)	472,916	1,028,142	1,070,054
Exercisable options outstanding (in shares)	2,341,962	2,303,748	2,026,107