Stock-Based Compensation - Stock Option Summary (Details) - Share-based Payment Arrangement, Option [Member] - USD ($) $ / shares in Units, shares in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	895	956	959
Converted upon acquisition (in shares)		42
Granted (in shares)	76	122	135
Exercised (in shares)	(489)	(152)	(41)
Forfeited (in shares)	(13)	(7)	(35)
Expired (in shares)	(11)	(66)	(62)
Outstanding, ending balance (in shares)	458	895	956	959
Exercisable, ending balance (in shares)	272
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 47.93	$ 47.10	$ 45.64
Converted upon acquisition (in dollars per share)		51.86
Granted (in dollars per share)	76.55	68.21	65.94
Exercised (in dollars per share)	43.55	38.99	39.92
Forfeited (in dollars per share)	67.34	60.03	47.38
Expired (in dollars per share)	66.24	95.31	70.12
Outstanding, ending balance (in dollars per share)	56.38	$ 47.93	$ 47.10	$ 45.64
Exercisable, ending balance (in dollars per share)	$ 46.37
Outstanding, Weighted Average Remaining Contractual Term	7 years	6 years 2 months 12 days	6 years 3 months 18 days	6 years 7 months 6 days
Exercisable, Weighted Average Remaining Contractual Term	5 years 9 months 18 days
Outstanding, Aggregate Intrinsic Value	$ 12,641,000	$ 4,806,000	$ 21,965,000	$ 19,125,000
Exercised, Aggregate Intrinsic Value	15,759,000	$ 4,520,000	$ 1,071,000
Exercisable, Aggregate Intrinsic Value	$ 10,223,000
Converted upon acquisition, Weighted Average Grant Date Fair Value (in dollars per share)		$ 14.86
Granted, Weighted Average Grant Date Fair Value (in dollars per share)	$ 26.20	$ 24.29	$ 21.99