Stock-Based Compensation - Stock Options and Appreciation Rights (Details)	3 Months Ended
	Mar. 31, 2022 $ / shares shares
2015 Plan
Stock Options
Outstanding, beginning balance (in shares)	3,635,837
Granted (in shares)	433,774
Exercised (in shares)	(40,869)
Canceled (in shares)	(11,368)
Outstanding, ending balance (in shares)	4,017,374
Shares exercisable (in shares)	1,296,368
Shares available for grant (in shares)	2,666,535
Weighted-Average Exercise Price
Outstanding, beginning balance (in usd per share) | $ / shares	$ 42.60
Granted (in usd per share) | $ / shares	77.98
Exercised (in usd per share) | $ / shares	16.11
Canceled (in usd per share) | $ / shares	66.71
Outstanding, ending balance (in usd per share) | $ / shares	46.62
Shares exercisable (in usd per share) | $ / shares	$ 55.96
2005 Plan
Stock Options
Outstanding, beginning balance (in shares)	68,225
Granted (in shares)	0
Exercised (in shares)	(3,000)
Canceled (in shares)	(1,500)
Outstanding, ending balance (in shares)	63,725
Shares exercisable (in shares)	63,725
Weighted-Average Exercise Price
Outstanding, beginning balance (in usd per share) | $ / shares	$ 109.52
Granted (in usd per share) | $ / shares	0
Exercised (in usd per share) | $ / shares	31.10
Canceled (in usd per share) | $ / shares	121.00
Outstanding, ending balance (in usd per share) | $ / shares	112.94
Shares exercisable (in usd per share) | $ / shares	$ 112.94