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Stockholders' Equity - Schedule of Stock Repurchases (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Class of Stock [Line Items]      
Total cost $ 46,132 $ 353,451 $ 105,941
2016 Stock Repurchase Program      
Class of Stock [Line Items]      
Shares of common stock repurchased and retired (in shares) 422 3,269 1,258
Average price paid per share (in dollars per share) $ 109.37 $ 108.11 $ 84.16
Total cost $ 46,124 $ 353,385 $ 105,915