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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
May 31, 2021 shares | Dec. 31, 2022 USD ($) yr $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Apr. 30, 2021 shares
Employee stock-based awards |  |  |  |  |
Age of recipient | yr |  | 55 |  |  |
Stock-based compensation | $ |  | $ 56,861 | $ 61,001 | $ 37,674 |
Stock-based compensation expense (income), net of tax | $ |  | $ 52,600 | $ 59,243 | 36,584 |
Award vesting period |  | 3 years |  |  |
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares) |  | 20,750,000 |  |  |
Performance units disclosure |  |  |  |  |
Qualifying service period |  | 5 years |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Employee stock purchase plan, shares available for grant (in shares) |  | 7,981,518 |  |  |
Employee stock-based awards, unrecognized compensation costs on nonvested awards | $ |  | $ 49,455 |  |  |
Employee stock-based awards, weighted average recognition period |  | 2 years |  |  |
Minimum |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Age of recipient | yr |  | 65 |  |  |
Performance Units Original Awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | 873,235 |  |  |
Granted (in shares) |  | 435,675 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 0 |  |  |
Vested (in shares) |  | (386,627) |  |  |
Forfeited (in shares) |  | (92,110) |  |  |
Non-vested at the end of the period (in shares) |  | 830,173 | 873,235 |  |
Restricted Stock Units (RSUs) |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Award vesting period |  | 3 years |  |  |
Aggregate intrinsic value |  |  |  |  |
Total fair value of shares or units vested | $ |  | $ 27,078 | $ 29,332 | 26,492 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | 1,403,633 |  |  |
Granted (in shares) |  | 949,413 |  |  |
Vested (in shares) |  | (802,454) |  |  |
Forfeited (in shares) |  | (244,477) |  |  |
Non-vested at the end of the period (in shares) |  | 1,306,115 | 1,403,633 |  |
Weighted average grant date fair value |  |  |  |  |
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share) | $ / shares |  | $ 34.11 |  |  |
Weighted average grant date fair value, granted (in dollars per share) | $ / shares |  | 50.26 |  |  |
Weighted average grant date fair value, vested (in dollars per share) | $ / shares |  | 33.74 |  |  |
Weighted average grant date fair value, forfeited (in dollars per share) | $ / shares |  | 38.63 |  |  |
Weighted average grant date fair value, non-vested, end of period (in dollars per share) | $ / shares |  | $ 43.43 | $ 34.11 |  |
PUs Adjustment |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | (541,444) |  |  |
Granted (in shares) |  | 0 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 56,894 |  |  |
Vested (in shares) |  | 0 |  |  |
Forfeited (in shares) |  | 0 |  |  |
Non-vested at the end of the period (in shares) |  | (484,550) | (541,444) |  |
Performance Units |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Award vesting period |  | 3 years |  |  |
Aggregate intrinsic value |  |  |  |  |
Total fair value of shares or units vested | $ |  | $ 20,059 | $ 29,701 | $ 11,812 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | 331,791 |  |  |
Granted (in shares) |  | 435,675 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 56,894 |  |  |
Vested (in shares) |  | (386,627) |  |  |
Forfeited (in shares) |  | (92,110) |  |  |
Non-vested at the end of the period (in shares) |  | 345,623 | 331,791 |  |
Weighted average grant date fair value |  |  |  |  |
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share) | $ / shares |  | $ 44.65 |  |  |
Weighted average grant date fair value, granted (in dollars per share) | $ / shares |  | 52.27 |  |  |
Weighted average grant date fair value, vested (in dollars per share) | $ / shares |  | 51.88 |  |  |
Prior year grant adjustments for performance above target (in dollars per share) | $ / shares |  | 36.78 |  |  |
Weighted average grant date fair value, forfeited (in dollars per share) | $ / shares |  | 49.61 |  |  |
Weighted average grant date fair value, non-vested, end of period (in dollars per share) | $ / shares |  | $ 45.65 | $ 44.65 |  |
Performance units disclosure |  |  |  |  |
Period of anniversary from the date of grant |  | 3 years |  |  |
Qualifying service period |  | 3 years |  |  |
Performance Units | Revenue or revenue growth and return on invested capital |  |  |  |  |
Performance units disclosure |  |  |  |  |
Performance period |  | 3 years |  |  |
Performance Units | Minimum | Market condition associated with shareholder return of common stock |  |  |  |  |
Performance units disclosure |  |  |  |  |
Percentage payout rate |  | 0.00% |  |  |
Performance Units | Maximum | Market condition associated with shareholder return of common stock |  |  |  |  |
Performance units disclosure |  |  |  |  |
Percentage payout rate |  | 238.00% |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Percentage of market price for the purchase of shares |  | 95.00% |  |  |
Employee stock purchase plan, offering periods |  | 6 months |  |  |
Employee stock purchase plan, maximum employee subscription rate percent |  | 15.00% |  |  |
Employee stock purchase plan, shares issued in period (in shares) |  | 112,486 | 112,297 | 159,853 |
Employee stock purchase plan, shares available for grant (in shares) |  | 991,504 |  |  |
Employee stock purchase plan, duration of offering periods |  | 6 months |  |  |
Three Year Vesting Option |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Contractual term of awards |  | 10 years |  |  |
Award vesting period |  | 3 years |  |  |
Employee And Non Employees Stock Option |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Weighted average fair value of options granted (in dollars per share) | $ / shares |  | $ 7.44 | $ 3.23 | $ 2.35 |
Weighted average assumptions used for grants |  |  |  |  |
Expected volatility (as a percent) |  | 28.00% | 28.30% | 25.40% |
Risk-free interest rate (as a percent) |  | 1.72% | 1.45% | 1.45% |
Expected dividend yield (as a percent) |  | 5.00% | 7.00% | 7.00% |
Expected life of the option |  | 10 years | 10 years | 10 years |
Summary of option activity |  |  |  |  |
Options outstanding balance, beginning of period (in shares) |  | 4,224,073 |  |  |
Options granted (in shares) |  | 211,455 |  |  |
Options exercised (in shares) |  | (208,093) |  |  |
Options forfeited (in shares) |  | (1,116) |  |  |
Options expired (in shares) |  | 0 |  |  |
Options outstanding balance, end of period (in shares) |  | 4,226,319 | 4,224,073 |  |
Options exercisable balance (in shares) |  | 3,531,786 |  |  |
Options expected to vest (in shares) |  | 694,533 |  |  |
Weighted Average Exercise Price |  |  |  |  |
Weighted average exercise price, options outstanding balance beginning of period (in dollars per share) | $ / shares |  | $ 36.06 |  |  |
Weighted average exercise price, options granted (in dollars per share) | $ / shares |  | 49.67 |  |  |
Weighted average exercise price, options exercised (in dollars per share) | $ / shares |  | 33.00 |  |  |
Weighted average exercise price, options forfeited (in dollars per share) | $ / shares |  | 35.72 |  |  |
Weighted average exercise price, options expired (in dollars per share) | $ / shares |  | 0 |  |  |
Weighted average exercise price, options outstanding balance end of period (in dollars per share) | $ / shares |  | 36.89 | $ 36.06 |  |
Weighted average exercise price, options exercisable (in dollars per share) | $ / shares |  | 36.49 |  |  |
Weighted average exercise price, options expected to vest (in dollars per share) | $ / shares |  | $ 38.88 |  |  |
Weighted average remaining contractual term |  |  |  |  |
Weighted average remaining contractual term, options outstanding |  | 5 years 10 days |  |  |
Weighted average remaining contractual term, options exercisable |  | 4 years 4 months 28 days |  |  |
Weighted average remaining contractual term, options expected to vest |  | 8 years 2 months 8 days |  |  |
Aggregate intrinsic value |  |  |  |  |
Aggregate intrinsic value, options outstanding | $ |  | $ 54,788 |  |  |
Aggregate intrinsic value, options exercisable | $ |  | 47,169 |  |  |
Aggregate intrinsic value, options expected to vest | $ |  | $ 7,619 |  |  |
Performance Units Original Awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Granted (in shares) |  |  | 488,953 | 425,777 |
2014 Plan |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares) | 20,750,000 |  |  |  | 12,750,000
Employee Stock Purchase Plan |  |  |  |  |
Shares of our common stock authorized for issuance (in shares) | 8,000,000 |  |  |  |
2013 Employee Stock Purchase Plan | Employee Stock Purchase Plan |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares) | 1,000,000 | 2,000,000 |  |  |

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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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