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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
May 31, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Apr. 30, 2021
Employee stock-based awards |  |  |  |  |
Stock-based compensation |  | $ 73,799 | $ 56,861 | $ 61,001 |
Stock-based compensation expense (income), net of tax |  | $ 68,309 | $ 52,600 | 59,243 |
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 |  |  |  |  |
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares) |  | 20,750,000 |  |  |
Employee stock purchase plan, shares available for grant (in shares) |  | 6,204,098 |  |  |
Employee stock-based awards, unrecognized compensation costs on nonvested awards |  | $ 61,799 |  |  |
Employee stock-based awards, weighted average recognition period |  | 1 year 10 months 24 days |  |  |
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) |  | 830,173 |  |  |
Granted (in shares) |  | 641,412 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 0 |  |  |
Vested (in shares) |  | (615,588) |  |  |
Forfeited (in shares) |  | (51,087) |  |  |
Non-vested at the end of the period (in shares) |  | 804,910 | 830,173 |  |
Restricted Stock Units (RSUs) |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Award vesting period |  | 3 years |  |  |
Aggregate intrinsic value |  |  |  |  |
Total fair value of shares or units vested |  | $ 32,664 | $ 27,078 | 29,332 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | 1,306,115 |  |  |
Granted (in shares) |  | 1,035,583 |  |  |
Vested (in shares) |  | (762,683) |  |  |
Forfeited (in shares) |  | (218,751) |  |  |
Non-vested at the end of the period (in shares) |  | 1,360,264 | 1,306,115 |  |
Weighted average grant date fair value |  |  |  |  |
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share) |  | $ 43.43 |  |  |
Weighted average grant date fair value, granted (in dollars per share) |  | 53.02 |  |  |
Weighted average grant date fair value, vested (in dollars per share) |  | 42.83 |  |  |
Weighted average grant date fair value, forfeited (in dollars per share) |  | 48.63 |  |  |
Weighted average grant date fair value, non-vested, end of period (in dollars per share) |  | $ 50.24 | $ 43.43 |  |
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) |  | (484,550) |  |  |
Granted (in shares) |  | 0 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 160,993 |  |  |
Vested (in shares) |  | 0 |  |  |
Forfeited (in shares) |  | 0 |  |  |
Non-vested at the end of the period (in shares) |  | (323,557) | (484,550) |  |
Performance Units |  |  |  |  |
Employee stock-based awards |  |  |  |  |
Award vesting period |  | 3 years |  |  |
Aggregate intrinsic value |  |  |  |  |
Total fair value of shares or units vested |  | $ 34,896 | $ 20,059 | $ 29,701 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Non-vested at the beginning of the period (in shares) |  | 345,623 |  |  |
Granted (in shares) |  | 641,412 |  |  |
Prior year grant adjustments for performance above target (in shares) |  | 160,993 |  |  |
Vested (in shares) |  | (615,588) |  |  |
Forfeited (in shares) |  | (51,087) |  |  |
Non-vested at the end of the period (in shares) |  | 481,353 | 345,623 |  |
Weighted average grant date fair value |  |  |  |  |
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share) |  | $ 45.65 |  |  |
Weighted average grant date fair value, granted (in dollars per share) |  | 55.76 |  |  |
Weighted average grant date fair value, vested (in dollars per share) |  | 56.69 |  |  |
Prior year grant adjustments for performance above target (in dollars per share) |  | 42.66 |  |  |
Weighted average grant date fair value, forfeited (in dollars per share) |  | 53.60 |  |  |
Weighted average grant date fair value, non-vested, end of period (in dollars per share) |  | $ 43.16 | $ 45.65 |  |
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% | 0.00% | 0.00% |
Performance Units | Maximum | Market condition associated with shareholder return of common stock |  |  |  |  |
Performance units disclosure |  |  |  |  |
Percentage payout rate |  | 350.00% | 350.00% | 200.00% |
Employee Stock Purchase Plan |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Employee stock purchase plan, offering periods |  | 6 months |  |  |
Percentage of market price for the purchase of shares |  | 95.00% |  |  |
Employee stock purchase plan, maximum employee subscription rate percent |  | 15.00% |  |  |
Employee stock purchase plan, shares issued in period (in shares) |  | 120,647 | 112,486 | 112,297 |
Employee stock purchase plan, shares available for grant (in shares) |  | 870,857 |  |  |
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 |  |  |  |  |
Fair value of options granted (in dollars per share) |  | $ 10.98 | $ 7.44 | $ 3.23 |
Weighted average assumptions used for grants |  |  |  |  |
Expected volatility (as a percent) |  | 29.10% | 28.00% | 28.30% |
Risk-free interest rate (as a percent) |  | 3.92% | 1.72% | 1.45% |
Expected dividend yield (as a percent) |  | 5.00% | 5.00% | 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) |  | 4,226,319 |  |  |
Options granted (in shares) |  | 157,132 |  |  |
Options exercised (in shares) |  | (322,854) |  |  |
Options outstanding balance, end of period (in shares) |  | 4,060,597 | 4,226,319 |  |
Options exercisable balance (in shares) |  | 3,619,289 |  |  |
Options expected to vest (in shares) |  | 441,308 |  |  |
Weighted Average Exercise Price |  |  |  |  |
Weighted average exercise price, options outstanding balance beginning of period (in dollars per share) |  | $ 36.89 |  |  |
Weighted average exercise price, options granted (in dollars per share) |  | 52.58 |  |  |
Weighted average exercise price, options exercised (in dollars per share) |  | 32.66 |  |  |
Weighted average exercise price, options outstanding balance end of period (in dollars per share) |  | 37.84 | $ 36.89 |  |
Weighted average exercise price, options exercisable (in dollars per share) |  | 36.85 |  |  |
Weighted average exercise price, options expected to vest (in dollars per share) |  | $ 45.86 |  |  |
Weighted average remaining contractual term |  |  |  |  |
Weighted average remaining contractual term, options outstanding |  | 4 years 5 months 8 days |  |  |
Weighted average remaining contractual term, options exercisable |  | 3 years 11 months 23 days |  |  |
Weighted average remaining contractual term, options expected to vest |  | 8 years 2 months 12 days |  |  |
Aggregate intrinsic value |  |  |  |  |
Aggregate intrinsic value, options outstanding |  | $ 130,548 |  |  |
Aggregate intrinsic value, options exercisable |  | 119,903 |  |  |
Aggregate intrinsic value, options expected to vest |  | $ 10,645 |  |  |
Performance Units Original Awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |  |
Granted (in shares) |  |  | 435,675 | 488,953 |
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 |  |  |  |
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
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) |  | 2,000,000 |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares) |  | 2,000,000 |  |  |

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