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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Total cost $ 17,799 $ 88,606 $ 46,132
2016 Stock Repurchase Program      
Class of Stock [Line Items]      
Shares of common stock repurchased and retired (in shares) 112 574 422
Average price paid per share (in dollars per share) $ 158.70 $ 154.23 $ 109.37
Total cost $ 17,797 $ 88,595 $ 46,124