Equity (Details) - USD ($)	3 Months Ended	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2020
Equity, Treasury Stock [Line Items]
Treasury stock acquired (in shares)	0	0	3,600,000
Treasury stock acquired, value			$ 120,228,000
Stock repurchase program, remaining authorized repurchase amount	$ 158,600,000	$ 158,600,000
December 2018 Share Repurchase Program
Equity, Treasury Stock [Line Items]
Stock repurchase program, remaining authorized repurchase amount	8,600,000	8,600,000
March 2020 Share Repurchase Program
Equity, Treasury Stock [Line Items]
Stock repurchase program, remaining authorized repurchase amount	$ 150,000,000	$ 150,000,000