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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Employee Stock-Based Awards        
Expiration period     3 years  
Stock-based compensation $ 7,120 $ 7,279 $ 28,140 $ 23,352
Stock-based compensation expense (income), net of tax $ 6,632 $ 6,734 $ 26,216 $ 21,599
Stock-based compensation expense per basic and diluted share (in dollars per share) $ 0.02 $ 0.02 $ 0.09 $ 0.08
Employee stock-based awards, unrecognized compensation costs on nonvested awards $ 50,152   $ 50,152  
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition     1 year 10 months 24 days  
Stock Options        
Summary of Option Activity        
Options outstanding balance, beginning of period (in shares)     4,271,834  
Options granted (in shares)     920,706  
Options exercised (in shares)     (236,704)  
Options forfeited (in shares)     (13,542)  
Options expired (in shares)     (16,715)  
Options outstanding balance, end of period (in shares) 4,925,579   4,925,579  
Options exercisable balance (in shares) 3,128,621   3,128,621  
Options expected to vest (in shares) 1,716,446   1,716,446  
Restricted Stock Units        
Summary of Option Activity        
Total fair value of shares or units vested $ 3,092 $ 3,189 $ 20,802 $ 19,195
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     1,196,566  
Granted (in shares)     752,555  
Vested (in shares)     (611,828)  
Forfeited (in shares)     (81,437)  
Non-vested at the end of the period (in shares) 1,255,856   1,255,856  
Performance units        
Summary of Option Activity        
Total fair value of shares or units vested $ 1,176 $ 84 $ 7,679 $ 3,117
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     667,101  
Granted (in shares)     380,856  
Vested (in shares)     (202,141)  
Forfeited (in shares)     (28,748)  
Non-vested at the end of the period (in shares) 817,068   817,068  
Performance units | Two Thousand Nineteen        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 100.00%   100.00%  
Performance units | Two Thousand Eighteen        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 50.00%   50.00%  
Performance units | Two Thousand Seventeen        
Performance Units Disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 100.00%   100.00%  
Original PU Awards        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     967,049  
Granted (in shares)     380,856  
Vested (in shares)     (202,141)  
Forfeited (in shares)     (13,898)  
Non-vested at the end of the period (in shares) 1,131,866   1,131,866  
PUs Adjustment        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     299,948  
Granted (in shares)     0  
Vested (in shares)     0  
Forfeited (in shares)     (14,850)  
Non-vested at the end of the period (in shares) 314,798   314,798