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Stockholders' Equity (Deficit) - Number of PSUs Granted Based on Return on Invested Capital and Grant Date Fair Value (Details) - $ / shares
12 Months Ended
Mar. 01, 2020
Feb. 13, 2020
Feb. 12, 2020
Jul. 11, 2019
Feb. 14, 2019
Feb. 13, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Three-year PSU Awards                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
PSU awards performance period             3 years 3 years 3 years
Number of units granted (in shares)             323,135    
granted (in dollars per share)             $ 36.33    
PSU Awards | Return on Invested Capital                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of units granted (in shares) 29,690 42,507 35,068 25,997 32,922 33,885      
granted (in dollars per share) $ 30.31 $ 34.40 $ 35.86 $ 43.22 $ 42.10 $ 42.21