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Stock-Based Compensation - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 19, 2017 | May 09, 2012
Restricted Stock Units (RSUs) |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Recognized stock-based compensation costs | $ 20,960 | $ 22,409 | $ 25,651 |  |
Recognized stock-based compensation costs, net of tax | 15,510 | $ 16,582 | $ 18,982 |  |
Pre-tax unrecognized compensation expense | $ 18,851 |  |  |  |
Recognized expense over a weighted-average period, years | 1 year 6 months 25 days |  |  |  |
2012 Long-Term Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  | 3,200,000
2012 Long-Term Incentive Plan | Stock Options Plans |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Option awards contractual term (years) | 10 years |  |  |  |
2012 Long-Term Incentive Plan | Minimum | Stock Options Plans |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period (years) | 3 years |  |  |  |
2012 Long-Term Incentive Plan | Maximum | Stock Options Plans |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period (years) | 5 years |  |  |  |
2017 Long-Term Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  | 3,000 |
2017 Long-Term Incentive Plan | Minimum | Restricted Stock Units (RSUs) |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period (years) | 3 years |  |  |  |
2017 Long-Term Incentive Plan | Maximum | Restricted Stock Units (RSUs) |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period (years) | 5 years |  |  |  |
Non-employee director |  |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |  |
Options granted (in shares) | 3,000 | 2,000 | 3,000 |  |

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