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Stock-based Compensation (Details) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) Offering_Period $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Proceeds from issuance of common stock | $ | $ 136,000 | $ 229,000 | $ 79,000
Employee Stock Purchase Plan [Abstract] |  |  |
Granted | 0 | 0 | 0
Stock Incentive Plans |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Stock-based compensation cost | $ | $ 219,000 | $ 219,000 | $ 214,000
Tax benefit | $ | (36,000) | (33,000) | (32,000)
Stock-based compensation cost, net of tax | $ | $ 183,000 | $ 186,000 | 182,000
Number of shares reserved for issuance to recipient (in shares) | 264,000 |  |
Number of shares available for future grant (in shares) | 11,000 |  |
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Expiration from date of award (in years) | 10 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Outstanding at beginning of period | 18,200 |  |
Exercised | (1,600) |  |
Forfeited/expired | (2,300) |  |
Outstanding at end of period | 14,300 | 18,200 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Outstanding- weighted average exercise price at beginning of period (in dollars per share) | $ / shares | $ 43.88 |  |
Exercised | $ / shares | 28.14 |  |
Forfeited/expired | $ / shares | 45.07 |  |
Outstanding- weighted average price per share end of period (in dollars per share) | $ / shares | $ 45.47 | $ 43.88 |
Weighted Average Remaining Contractual Term (years) | 2 years 8 months 12 days |  |
Aggregate Intrinsic Value | $ | $ 27,200 |  |
Number of shares exercisable at the end of the period | 14,300 |  |
Weighted Average Exercise Price per Share, Exercisable at the end of the period | $ / shares | $ 45.47 |  |
Weighted Average Remaining Contractual Term (years), Exercisable at the end of the period | 2 years 8 months 12 days |  |
Aggregate Intrinsic Value, Exercisable at the end of the Period | $ | $ 27,200 |  |
Intrinsic value of stock options exercised during the period | $ | 20,000 | $ 43,000 | 315
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Unrecognized compensation cost, non vested awards at period end | $ | 0 |  |
Proceeds from issuance of common stock | $ | $ 136,000 | 229,000 | 79,000
Stock Options | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Vesting period | 3 years |  |
Exercise of stock options [Member] |  |  |
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Proceeds from issuance of common stock | $ | $ 48,000 | $ 148,000 | $ 4,000
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Number of shares reserved for issuance to recipient (in shares) | 104,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract] |  |  |
Expected volatility | 48.00% | 46.00% | 69.00%
Expected dividend yield | 1.44% | 1.67% | 0.84%
Risk-free interest rate | 5.11% | 1.42% | 0.05%
Weighted average grant-date fair value of option | $ / shares | $ 7.16 | $ 5.63 | $ 5.01
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Shares available for future issuance through the plan | 28,000 |  |
Employee Stock Purchase Plan [Abstract] |  |  |
Percentage of earnings eligible employees may have withheld under the employee stock purchase plan | 10.00% |  |
Number of offering periods | Offering_Period | 4 |  |
Percentage of the lower of fair market value of the unit on the commencement date or the fair market value of unit on the last trading day of the offering period | 90.00% |  |
Number of shares sold through the plan (in shares) | 76,000 |  |
Restricted Stock And Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |
Nonvested shares at the beginning of the period | 22,100 |  |
Granted | 7,600 |  |
Vested | (8,000) |  |
Forfeited | (800) |  |
Non vested shares at the end of the period | 20,900 | 22,100 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Weighted Average Grant-Date Fair Value per Share, Non vested shares at the beginning of the period | $ / shares | $ 24.83 |  |
Granted | $ / shares | 31.73 | $ 31.40 | $ 20.94
Vested | $ / shares | 24.47 |  |
Forfeited | $ / shares | 26.35 |  |
Weighted Average Grant-Date Fair Value Per Share, Nonvested shares at the end of the period | $ / shares | $ 27.42 | $ 24.83 |
Total fair value of shares vested during the period | $ | $ 283,000 | $ 248,000 | $ 117,000
Restricted Stock |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Expiration from date of award (in years) | 5 years |  |
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Unrecognized compensation cost, non vested awards at period end | $ | $ 377,000 |  |
Weighted average period unrecognized compensation costs to be recognized (in years) | 3 years |  |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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