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Compensation Plans and Programs - Narrative (Details) $ / shares in Units, shares in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Jun. 02, 2021 shares	Jun. 14, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of RSUs granted under the equity plans (in shares) | shares	535
Weighted-average grant date fair values (in USD per share) | $ / shares	$ 73.80
Fair value of RSUs vested	$ 31,000,000	$ 25,300,000	$ 22,600,000
Vested weighted-average grant date fair value of awards (in USD per share) | $ / shares	$ 54.95	$ 67.29	$ 62.44
Number of minimum exercise price per share options	100.00%
Number of outstanding options (less than) (in shares) | shares	699	646
Weighted-average fair value granted (in USD per share) | $ / shares	$ 24.41	$ 20.28	$ 23.04
Outstanding options intrinsic value	$ 29,200,000
Number of outstanding exercisable options (in shares) | shares	300
Weighted-average exercise price (in USD per share) | $ / shares	$ 61.33
Outstanding options intrinsic value	$ 12,900,000
Weighted-average remaining contractual life (in years)	9 years 4 months 24 days
Exercised stock options intrinsic value	$ 5,400,000	$ 300,000	$ 3,600,000
Proceeds from exercise of stock options	$ 1,252,000	$ 1,226,000	7,950,000
Outstanding options (in shares) | shares	700	100
Proceeds from stock options if exercised	$ 46,700,000	$ 1,100,000
Company contribution costs	$ 100,000	0	3,000,000
Company match in contributions (as a percent)	50.00%
Employee maximum contribution percentage (as a percent)	6.00%
Award Date Between 1983 and 1986
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average remaining contractual life of outstanding options (in years)	8 years 7 months 6 days
Lower range limit exercise price (in USD per share) | $ / shares	$ 9.00
Upper range limit exercise price (in USD per share) | $ / shares	$ 11.63
Savings Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Company contribution costs	$ 1,100,000	1,200,000	1,300,000
Other Defined Contribution Plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Company contribution costs	$ 300,000	$ 200,000	$ 3,400,000
2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reserved for issuance (in shares) | shares				1,800
Number of shares authorized (in shares) | shares					4,200
Prior than 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of outstanding options (less than) (in shares) | shares	100
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Multiple of target number of shares	0
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	5 years
Multiple of target number of shares	3
Proceeds from exercise of stock options	$ 1,300,000
Time-based Restricted Stock Units (RSUs) | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Time-based Restricted Stock Units (RSUs) | Minimum | 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	1 year
Time-based Restricted Stock Units (RSUs) | Maximum | 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Performance Based Restricted Stock Units | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Performance Based Restricted Stock Units | Minimum | 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Performance Based Restricted Stock Units | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	5 years
Performance Based Restricted Stock Units | Maximum | 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	5 years
Performance period (in years)	5 years
Restricted Stock Units RSU and or Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost related to share-based awards at current performance accrual rates	$ 27,800,000
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of RSUs granted under the equity plans (in shares) | shares	500	700	500
Weighted-average grant date fair values (in USD per share) | $ / shares	$ 73.80	$ 55.15	$ 68.44
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Unrecognized compensation cost related to share-based awards at current performance accrual rates	$ 2,500,000
Expected term (in years)	7 years 6 months	8 years	7 years 8 months 12 days
Stock Options | Award Date Between 1983 and 1986
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	50 years
Stock Options | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Multiple of target number of shares	0
Exercisable period	7 years
Stock Options | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	5 years
Multiple of target number of shares	3
Exercisable period	10 years
Stock Options | Maximum | 2017 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance period (in years)	5 years

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