Common Stock, Preferred Stock and Equity Plans - Stock Options Outstanding and Exercisable (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2020 $ / shares shares
Stock options outstanding and exercisable
Options outstanding (in shares) | shares	4,238
Options outstanding, weighted-average remaining contractual life	6 years 4 months 2 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 140.47
Options exercisable (in shares) | shares	2,894
Options exercisable, weighted-average exercise price ( in usd per share)	$ 125.83
$36.28–$40.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	36.28
Exercise price, high end of range ( in usd per share)	$ 40.00
Options outstanding (in shares) | shares	60
Options outstanding, weighted-average remaining contractual life	10 months 6 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 38.06
Options exercisable (in shares) | shares	60
Options exercisable, weighted-average exercise price ( in usd per share)	$ 38.06
$40.01–$60.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	40.01
Exercise price, high end of range ( in usd per share)	$ 60.00
Options outstanding (in shares) | shares	154
Options outstanding, weighted-average remaining contractual life	1 year 8 months 23 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 47.07
Options exercisable (in shares) | shares	154
Options exercisable, weighted-average exercise price ( in usd per share)	$ 47.07
$60.01–$80.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	60.01
Exercise price, high end of range ( in usd per share)	$ 80.00
Options outstanding (in shares) | shares	97
Options outstanding, weighted-average remaining contractual life	3 years 3 months
Options outstanding, weighted-average exercise price ( in usd per share)	$ 74.53
Options exercisable (in shares) | shares	97
Options exercisable, weighted-average exercise price ( in usd per share)	$ 74.54
$80.01–$100.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	80.01
Exercise price, high end of range ( in usd per share)	$ 100.00
Options outstanding (in shares) | shares	991
Options outstanding, weighted-average remaining contractual life	5 years 4 months 2 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 88.93
Options exercisable (in shares) | shares	937
Options exercisable, weighted-average exercise price ( in usd per share)	$ 89.07
$100.01–$120.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	100.01
Exercise price, high end of range ( in usd per share)	$ 120.00
Options outstanding (in shares) | shares	127
Options outstanding, weighted-average remaining contractual life	4 years 25 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 109.24
Options exercisable (in shares) | shares	127
Options exercisable, weighted-average exercise price ( in usd per share)	$ 109.22
$120.01–$140.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	120.01
Exercise price, high end of range ( in usd per share)	$ 140.00
Options outstanding (in shares) | shares	271
Options outstanding, weighted-average remaining contractual life	4 years 8 months 15 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 129.49
Options exercisable (in shares) | shares	270
Options exercisable, weighted-average exercise price ( in usd per share)	$ 129.50
$140.01–$160.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	140.01
Exercise price, high end of range ( in usd per share)	$ 160.00
Options outstanding (in shares) | shares	715
Options outstanding, weighted-average remaining contractual life	7 years 18 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 155.49
Options exercisable (in shares) | shares	415
Options exercisable, weighted-average exercise price ( in usd per share)	$ 155.42
$160.01–$180.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	160.01
Exercise price, high end of range ( in usd per share)	$ 180.00
Options outstanding (in shares) | shares	578
Options outstanding, weighted-average remaining contractual life	7 years 5 months 19 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 168.40
Options exercisable (in shares) | shares	312
Options exercisable, weighted-average exercise price ( in usd per share)	$ 166.01
$180.01–$200.00
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	180.01
Exercise price, high end of range ( in usd per share)	$ 200.00
Options outstanding (in shares) | shares	1,222
Options outstanding, weighted-average remaining contractual life	7 years 10 months 6 days
Options outstanding, weighted-average exercise price ( in usd per share)	$ 185.31
Options exercisable (in shares) | shares	499
Options exercisable, weighted-average exercise price ( in usd per share)	$ 184.92
$200.01–$286.27
Stock options outstanding and exercisable
Exercise price, low end of range ( in usd per share)	200.01
Exercise price, high end of range ( in usd per share)	$ 286.27
Options outstanding (in shares) | shares	23
Options outstanding, weighted-average remaining contractual life	9 years 5 months 1 day
Options outstanding, weighted-average exercise price ( in usd per share)	$ 286.27
Options exercisable (in shares) | shares	23
Options exercisable, weighted-average exercise price ( in usd per share)	$ 286.27