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Share-based Compensation and Other Employment Benefit Plans - Other Employee Benefit Plans (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Employer matching contribution, percent | 100.00% | 100.00% | 100.00%
401(k) percent of match | 5.00% | 5.00% | 5.00%
Annual contribution | $ 25.2 | $ 23.0 | $ 21.5
Stock purchase plan, percent of match | 15.00% | 15.00% | 15.00%
Stock purchase plans compensation expense | $ 1.2 | $ 1.1 | $ 1.1

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