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Stock-Based Compensation - Stock Option Summary (Details) - Share-based Payment Arrangement, Option [Member] - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Sep. 30, 2022
Sep. 30, 2021
Shares        
Outstanding, beginning balance (in shares) 393 433 393 433
Granted (in shares)     0 0
Exercised (in shares)     0 (34)
Forfeited (in share)     (2) (6)
Expired (in shares)     (8)  
Outstanding, ending balance (in shares)     383 393
Exercisable (in shares)     361  
Weighted Average Exercise Price per Share        
Outstanding, beginning balance, weighted average exercise price per share (in dollars per share) $ 61.18 $ 61.95 $ 61.18 $ 61.95
Granted, weighted average exercise price (in dollars per share)     0 0
Exercised, weighted average exercise price (in dollars per share)     0 67.21
Forfeited, weighted average grant date fair value (in dollars per share)     87.27 83.33
Expired weighted average exercise price (in dollars per share)     78.76  
Outstanding, ending balance, weighted average exercise price per share (in dollars per share)     60.69 $ 61.18
Exercisable, weighted average exercise price (in usd per share)     $ 59.26  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]        
Outstanding, weighted average remaining contractual life 5 years 10 months 24 days 6 years 10 months 24 days 5 years 1 month 6 days 6 years 1 month 6 days
Outstanding, beginning balance, aggregate intrinsic value $ 4,737 $ 14,697 $ 4,737 $ 14,697
Granted, weighted average grant date fair value     $ 0 $ 0
Exercised, aggregate intrinsic value     $ 0 $ 1,215
Outstanding, weighted average remaining contractual life 5 years 10 months 24 days 6 years 10 months 24 days 5 years 1 month 6 days 6 years 1 month 6 days
Outstanding, ending balance, aggregate intrinsic value     $ 729 $ 6,496
Exercisable, weighted average remaining contractual term     5 years  
Exercisable, aggregate intrinsic value     $ 729