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Stock-Based Compensation - Restricted Stock Units Summary (Details) - Restricted Stock Units (RSUs) [Member] - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 9 Months Ended
--- | ---
Sep. 30, 2023 | Sep. 30, 2022
Number of Restricted Stock Units |  |  |
Outstanding, beginning balance (in shares) |  | 528 | 430
Granted (in shares) |  | 459 | 371
Forfeited (in shares) |  | (25) | (62)
Outstanding, ending balance (in shares) |  | 727 | 519
Weighted Average Grant Date Fair Value |  |  |
Outstanding, beginning balance, weighted average grant date fair value (in dollars per share) |  | $ 66.39 |
Granted, weighted average grant date fair value (in dollars per share) |  | 56.62 | $ 53.32
Forfeited, weighted average grant date fair value (in dollars per share) |  | 62.32 |
Outstanding, ending balance, weighted average grant date fair value (in dollars per share) |  | $ 58.81 |
Vested and Released [Member] |  |  |
Number of Restricted Stock Units |  |  |
Released (in shares) | [1] | (235) | (220)
Weighted Average Grant Date Fair Value |  |  |
Released, weighted average grant date fair value (in dollars per share) |  | $ 71.83 |
Released, aggregate intrinsic value |  | $ 739 | $ 11,441
Vested but Not Released [Member] |  |  |
Number of Restricted Stock Units |  |  |
Released (in shares) |  | (15) |
Weighted Average Grant Date Fair Value |  |  |
Released, aggregate intrinsic value |  | $ 887 |
Long Term Performance Restricted Stock Award [Member] |  |  |
Weighted Average Grant Date Fair Value |  |  |
Granted, weighted average grant date fair value (in dollars per share) |  | $ 59.52 | $ 57.88
[1] | (1) Shares released is presented as gross shares and does not reflect shares withheld by us for employee payroll tax obligations.

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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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