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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