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Share-Based Compensation - Schedule of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Options  
Stock options outstanding beginning of period (in shares) | shares 392
Stock options exercised (in shares) | shares (38)
Stock options outstanding and exercisable at end of period (in shares) | shares 354
Weighted Average Exercise Price  
Stock options outstanding and exercisable, beginning of period (in dollars per share) | $ / shares $ 36.89
Stock options exercised (in dollars per share) | $ / shares 33.91
Stock options outstanding and exercisable, end of period (in dollars per share) | $ / shares $ 37.21
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Stock options outstanding and exercisable, weighted average remaining contractual term (in Years) 2 years
Stock options outstanding and exercisable, aggregate intrinsic value | $ $ 57,313