Equity Compensation Plans and Share-Based Compensation - Warranty and Options Activity (Details) - Stock Options and Warrants - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding [Roll Forward]
Underlying Shares - Outstanding at beginning of year	10	70	80
Underlying Shares - Exercised	(10)	(60)	(10)
Underlying Shares - Outstanding at end of year	0	10	70
Underlying Shares - Exercisable at end of year	0	0	40
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted-Average Exercise Price - Outstanding at beginning of year	$ 38.00	$ 38.86	$ 39.00
Weighted-Average Exercise Price - Exercised	38.00	39.00	40.00
Weighted-Average Exercise Price - Outstanding at end of year	0	38.00	38.86
Weighted-Average Exercise Price - Exercisable at end of year	$ 0	$ 0	$ 39.00