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Employee Stock Purchase Plan, Stock Options and Warrants - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Payment Arrangement [Abstract] |  |  |
Total intrinsic value of stock options exercised | $ 27,110 | $ 36,086 | $ 11,733
Cash received from stock option exercises | 18,952 | 20,194 | 5,481
Excess tax benefit from the exercise of stock options | $ 3,423 | $ 5,571 | $ 1,815
Number of Shares |  |  |
Beginning balance (in shares) | 3,640 |  |
Granted (in shares) | 251 |  |
Exercised (in shares) | (703) |  |
Forfeited/expired (in shares) | (111) |  |
Outstanding at December 31 (in shares) | 3,077 | 3,640 |
Exercisable (in shares) | 1,792 |  |
Ending vested and expected to vest (in shares) | 3,013 |  |
Weighted Average Exercise Price |  |  |
Beginning balance (in dollars per share) | $ 44.70 |  |
Granted (in dollars per share) | 63.69 |  |
Exercised (in dollars per share) | 28.58 |  |
Forfeited/expired (in dollars per share) | 53.16 |  |
Outstanding at December 31 (in dollars per share) | 49.62 | $ 44.70 |
Exercisable (in dollars per share) | 43.50 |  |
Ending vested and expected to vest (in dollars per share) | $ 49.37 |  |
Outstanding, remaining contractual term | 3 years 6 months 3 days |  |
Exercisable, remaining contractual term | 2 years 7 months 9 days |  |
Ending vested and expected to vest, remaining contractual term | 3 years 5 months 19 days |  |
Outstanding, intrinsic value | $ 64,634 |  |
Exercisable, intrinsic value | 48,595 |  |
Ending vested and expected to vest, intrinsic value | $ 64,026 |  |

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