We describe the design of the Field-Imaging Far-Infrared Line Spectrometer (FIFI-LS), operated as a Facility-Class instrument on the Stratospheric Observatory for Infrared Astronomy (SOFIA). FIFI-LS is an imaging spectrometer for medium resolution spectroscopy. Since being commissioned in 2014, it has performed over 50 SOFIA commissioning and science flights. After operating as a principal investigator instrument in 2014 and early 2015, it was accepted as a Facility Science Instrument in 2015. In addition to the description of the design, we report on the in-flight performance and the concept of operation. We also provide an overview of the science opportunities with FIFI-LS and describe how FIFI-LS observations complement and complete observations with the PACS instrument on the Herschel observatory.