Stock-Based Compensation - Stock Options and Appreciation Rights (Details)	6 Months Ended
	Jun. 30, 2022 $ / shares shares
2015 Plan
Stock Options
Outstanding, beginning balance (in shares)	3,635,837
Granted (in shares)	506,821
Exercised (in shares)	(59,727)
Canceled (in shares)	(35,195)
Outstanding, ending balance (in shares)	4,047,736
Shares exercisable (in shares)	1,463,037
Shares available for grant (in shares)	4,834,171
Weighted-Average Exercise Price
Outstanding, beginning balance (in usd per share) | $ / shares	$ 42.60
Granted (in usd per share) | $ / shares	73.94
Exercised (in usd per share) | $ / shares	15.61
Canceled (in usd per share) | $ / shares	78.51
Outstanding, ending balance (in usd per share) | $ / shares	46.61
Shares exercisable (in usd per share) | $ / shares	$ 55.28
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
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