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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Summary of Stock-Based Compensation Expense
Stock-based compensation expense is summarized as follows: 
 
Years Ended December 31,
(in thousands)
2019
 
2018
 
2017
Stock-based compensation expense
$
22,232

 
$
23,116

 
$
20,288
Summary of Restricted Stock Units Activity
RSU activity for the year ended December 31, 2019 is summarized as follows: 
 
Number
of shares
 
Weighted Average
Grant Date
Fair Value
Outstanding at December 31, 2018
552,238

 
$
111.49

Granted
181,367

 
$
108.42

Forfeited
(24,019
)
 
$
95.13

Settled
(181,210
)
 
$
98.20

Outstanding at December 31, 2019
528,376

 
$
115.74
Grant-date Intrinsic Value of RSUs Granted
The grant-date intrinsic value of RSUs granted during the year ended December 31, 2019 was $19.7 million.
 
Years Ended December 31,
(in millions, except per share values)
2019
 
2018
 
2017
Weighted-average grant-date fair value per share
$
108.42

 
$
131.16

 
$
108.32

Fair value of RSUs vested
$
17.8

 
$
12.5

 
$
11.3
Summary of Stock Option Activity
Stock option activity for the year ended December 31, 2019 is summarized as follows: 
 
Number
of shares
 
Weighted
Average
Exercise Price
Outstanding at December 31, 2018
76,751

 
$
12.86

Exercised
(70,097
)
 
$
10.35

Outstanding at December 31, 2019
6,654

 
$
39.35

Vested and exercisable at December 31, 2019
6,654

 
$
39.35