Stock-Based Compensation - Stock Compensation Plans (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2020 $ / shares shares
Stock Options Outstanding
Stock options outstanding, number of shares, balance (in shares) | shares	692
Stock options exercised, exercised (in shares) | shares	(1)
Stock options forfeited/expired (in shares) | shares	(33)
Stock options outstanding, number of shares, balance (in shares) | shares	658
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Stock options, weighted average exercise price, balance (in dollars per share) | $ / shares	$ 22.46
Stock options, weighted average exercise price, exercised (in dollars per share) | $ / shares	10.71
Stock options, weighted average exercise price, forfeited/expired (in dollars per share) | $ / shares	22.49
Stock options, weighted average exercise price, balance (in dollars per share) | $ / shares	$ 22.48
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Stock options outstanding, number of shares, exercisable (in shares) | shares	658
Stock options outstanding, weighted average exercise price, exercisable (in dollars per share) | $ / shares	$ 22.48
Non-vested Stock Awards Outstanding
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Non-vested shares outstanding, balance (in shares) | shares	21
Non-vested shares outstanding, vested (earned) (in shares) | shares	(11)
Non-vested shares outstanding, balance (in shares) | shares	10
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Non-vested shares outstanding. weighted-average grant-date fair value, balance (in dollars per share) | $ / shares	$ 23.19
Non-vested shares outstanding. weighted-average grant-date fair value, vested (earned) (in dollars per share) | $ / shares	22.57
Non-vested shares outstanding. weighted-average grant-date fair value, balance (in dollars per share) | $ / shares	$ 23.87
Non-vested Stock Units Outstanding
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Non-vested shares outstanding, balance (in shares) | shares	1,152
Non-vested shares outstanding, granted (in shares) | shares	518
Non-vested shares outstanding, vested (earned) (in shares) | shares	(426)
Non-vested shares outstanding, forfeited/expired (in shares) | shares	(116)
Non-vested shares outstanding, balance (in shares) | shares	1,128
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Non-vested shares outstanding. weighted-average grant-date fair value, balance (in dollars per share) | $ / shares	$ 26.79
Non-vested shares outstanding. weighted-average grant-date fair value, granted (in dollars per share) | $ / shares	21.94
Non-vested shares outstanding. weighted-average grant-date fair value, vested (earned) (in dollars per share) | $ / shares	25.95
Non-vested shares outstanding. weighted-average grant-date fair value, forfeited/expired (in dollars per share) | $ / shares	26.49
Non-vested shares outstanding. weighted-average grant-date fair value, balance (in dollars per share) | $ / shares	$ 24.90