Stock-Based Compensation - Significant Option Groups Outstanding and Related Weighted Average Exercise Price and Life Information (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Options Outstanding
Number outstanding (in shares)	800	774	745	597
Weighted-average remaining contractual term (in years)	3 years 1 month 24 days	3 years 8 months 15 days	3 years 11 months 19 days
Weighted average exercise price (in dollars per share)	$ 45.55	$ 43.01	$ 41.73	$ 44.27
Options Exercisable
Number exercisable (in shares)	656	582	517
Weighted-average exercise price (in dollars per share)	$ 44.08	$ 43.90	$ 44.95
Exercise price range 1
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	19.25
Range of exercise prices, upper range limit (in dollars per share)	$ 27.07
Options Outstanding
Number outstanding (in shares)	230
Weighted-average remaining contractual term (in years)	3 years 29 days
Weighted average exercise price (in dollars per share)	$ 24.36
Options Exercisable
Number exercisable (in shares)	218
Weighted-average exercise price (in dollars per share)	$ 24.20
Exercise price range 2
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	44.95
Range of exercise prices, upper range limit (in dollars per share)	$ 46.17
Options Outstanding
Number outstanding (in shares)	207
Weighted-average remaining contractual term (in years)	4 years 7 months 6 days
Weighted average exercise price (in dollars per share)	$ 45.59
Options Exercisable
Number exercisable (in shares)	162
Weighted-average exercise price (in dollars per share)	$ 45.43
Exercise price range 3
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	51.38
Range of exercise prices, upper range limit (in dollars per share)	$ 65.54
Options Outstanding
Number outstanding (in shares)	363
Weighted-average remaining contractual term (in years)	2 years 7 months 9 days
Weighted average exercise price (in dollars per share)	$ 58.98
Options Exercisable
Number exercisable (in shares)	276
Weighted-average exercise price (in dollars per share)	$ 59.00