As the observational signature of the footprints of solar magnetic field lines open into the heliosphere, coronal holes provide a critical measure of the structure and evolution of these lines. Using a combination of Solar and Heliospheric Observatory/Extreme ultraviolet Imaging Telescope (SOHO/EIT), Solar Dynamics Observatory/Atmospheric Imaging Assembly (SDO/AIA), and Solar Terrestrial Relations Observatory/Extreme Ultraviolet Imager (STEREO/EUVI A/B) extreme ultraviolet (EUV) observations spanning 1996 – 2015 (nearly two solar cycles), coronal holes are automatically detected and characterized. Coronal hole area distributions show distinct behavior in latitude, defining the domain of polar and low-latitude coronal holes. The northern and southern polar regions show a clear asymmetry, with a lag between hemispheres in the appearance and disappearance of polar coronal holes.