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Stock Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |  |  |  |  |  |  |  |  |
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May 31, 2022 shares | May 31, 2021 shares | May 31, 2020 shares | Jul. 31, 2009 | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2016 | Dec. 31, 2015 | Aug. 31, 2022 $ / shares | Jul. 31, 2022 USD ($) $ / shares shares | Aug. 31, 2021 $ / shares | Jul. 31, 2021 USD ($) $ / shares shares | Aug. 31, 2020 $ / shares | Jul. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 shares | May 01, 2019 shares | Dec. 31, 2010 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Incremental increases in average stock price from initial grant price |  |  |  |  | 20.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, award requisite service period |  |  |  | 20 years | 15 years |  |  |  |  |  |  |  |  |  |  |  |  |
Attainment age of stock plan |  |  |  |  | attainment of age 64 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, grants in period, gross |  |  |  |  | 10,163,420 |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options awarded shares outstanding number |  |  |  |  | 708,380 |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options distributed shares outstanding number |  |  |  |  | 9,455,040 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation, shares authorized under stock option plans, exercise price range, lower range limit | $ / shares |  |  |  |  | $ 8.30 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation, shares authorized under stock option plans, exercise price range, upper range limit | $ / shares |  |  |  |  | $ 10.31 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $ |  |  |  |  | $ 6,300 | $ 2,300 | $ 5,000 |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized |  |  |  |  | 34,000,000 |  |  |  |  |  |  |  |  |  |  |  |  | 28,800,000
Maximum employee subscription rate |  |  |  |  | 10.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized | $ |  |  |  |  | $ 164,300 |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized, period for recognition |  |  |  |  | 3 years 8 months 1 day |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  |  | 3,735,669 |  |  |  |  |  |  |  |  |  |  |  |  |
Threshold period worked per week by employees |  |  |  |  | 20 |  |  |  |  |  |  |  |  |  |  |  |  |
Allotted value maximum | $ |  |  |  |  | $ 25,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Subscription period beginning |  |  |  |  | August 1st |  |  |  |  |  |  |  |  |  |  |  |  |
Subscription period ending |  |  |  |  | July 31st |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase price of common stock, percentage |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of market price |  |  |  |  | 15.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Value of one year stock option percentage |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Estimated fair value per share option | $ / shares |  |  |  |  |  |  |  |  |  | $ 15.81 |  | $ 11.60 |  | $ 12.43 |  |  |  |
Stock awarded |  |  |  |  |  |  |  |  |  |  | 791,842 |  | 850,956 |  | 962,131 |  |  |
Shares issued aggregate purchase value | $ |  |  |  |  |  |  |  |  |  |  | $ 36,500 |  | $ 32,900 |  | $ 29,300 |  |  |
Shares issued aggregate purchase price per share | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 46.10 |  | $ 38.70 |  | $ 30.51 |  |  |
Shares held in employee stock option plan, suspense shares |  |  |  |  | 338,498 | 354,911 | 381,371 |  |  |  |  |  |  |  |  |  |  |
Cash received from proceeds by participants | $ |  |  |  |  | $ 18,200 | $ 16,400 | $ 14,800 |  |  |  |  |  |  |  |  |  |  |
2019 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares of stock reserved for issuance under stock incentive plans |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,283,475 |
Number of shares available for grant |  |  |  |  | 6,088,438 |  |  |  |  |  |  |  |  |  |  |  | 6,957,897 |
2010 SIP and 2019 SIP |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options awarded shares outstanding number |  |  |  |  | 4,754,649 | 5,025,561 | 6,919,847 |  |  |  |  |  |  |  |  | 8,070,576 |  |
2010 SIP and 2019 SIP | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock vesting period |  |  |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |
Performance measurement period |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of payout |  |  |  |  |  |  |  | 0.00% | 0.00% |  |  |  |  |  |  |  |  |
2010 SIP and 2019 SIP | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock vesting period |  |  |  |  | 10 years |  |  |  |  |  |  |  |  |  |  |  |  |
Performance measurement period |  |  |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of payout |  |  |  |  |  |  |  | 200.00% | 100.00% |  |  |  |  |  |  |  |  |
2010 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock issued to directors shares | 15,003 | 16,857 | 16,490 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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