We propose a new theory of second-order viscous relativistic hydrodynamics which does not impose any frame conditions on the choice of the hydrodynamic variables. It differs from Mueller-Israel-Stewart theory by including additional transient degrees of freedom, and its first-order truncation reduces to Bemfica-Disconzi-Noronha-Kovtun theory. Conditions for causality and stability are explicitly given in the conformal regime. As an illustrative example, we consider Bjorken flow solutions to our equations and identify variables which make a hydrodynamic attractor manifest.