Stockholders' Equity - Schedule of Common Stock (Details) - shares	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Shares issued beginning balance (in shares)	66,456,663	69,065,491
Repurchase of common stock (in shares)	(744,001)	(747,417)
Awards effectively repurchased for required employee withholding taxes (in shares)	(68,228)	(51,126)
Shares issued ending balance (in shares)	65,881,233	68,470,050
Issuance of common stock from vested restricted stock units
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from vested restricted stock units (in shares)	215,958	173,629
Issuance of common stock from exercise of stock options
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of stock options (in shares)	20,841	29,473