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Employee Stock Purchase Plan, Stock Options and Warrants - Narrative (Details) - USD ($) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Allocated share-based compensation |  | $ 18,042,000 | $ 16,090,000 | $ 14,339,000
Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options granted in period (in shares) |  | 251,000 | 716,000 | 329,000
Compensation cost not yet recognized |  | $ 20,400,000 |  |
Compensation cost not yet recognized, period of recognition |  | 2 years 1 month 6 days |  |
Fair value of options, net of forfeitures |  | $ 6,300,000 | $ 17,500,000 | $ 4,500,000
Options granted in period, weighted average grant date fair value (in dollars per share) |  | $ 24.98 | $ 24.38 | $ 13.70
Stock-Settled Performance-Based Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Compensation cost not yet recognized |  | $ 4,700,000 |  |
Compensation cost not yet recognized, period of recognition |  | 1 year 7 months 6 days |  |
Vested (in shares) |  | 44,000 | 26,000 | 0
Forfeited (in shares) |  | 45,000 |  |
Weighted average grant-date fair value (in dollars per share) |  | $ 64.54 | $ 61.39 | $ 43.63
Restricted stock units granted (in shares) |  | 97,000 |  |
Restricted stock units vested (in shares) |  | 44,000 | 26,000 | 0
Number of shares of common stock for each unit |  | 1 |  |
Stock-Settled Performance-Based Restricted Stock Units | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 200.00% | 100.00% | 200.00%
Stock-Settled Performance-Based Restricted Stock Units | rTSR |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 125.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 75.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 125.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Decrease in the potential shares of common stock to be granted | 25,415 |  |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  |  |  | 50.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  | 100.00% |  | 100.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 2 years |  |
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  |  | 50.00% | 50.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  |  | 200.00% | 200.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Stock-Settled Performance-Based Restricted Stock Units | Target units granted |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted stock units granted (in shares) |  | 48,000 | 52,000 | 61,000
Stock-Settled Performance-Based Restricted Stock Units | Maximum units granted |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted stock units granted (in shares) |  | 97,000 | 103,000 | 102,000
Stock-Settled Performance-Based Restricted Stock Units | Maximum potential shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted stock units granted (in shares) |  | 121,000 | 129,000 | 127,000
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Target cash incentive |  | $ 1,000,000.0 | $ 1,000,000.0 | $ 1,000,000.0
Liabilities associated with awards |  | 3,200,000 |  |
Compensation cost not yet recognized |  | $ 1,900,000 |  |
Compensation cost not yet recognized, period of recognition |  | 1 year 8 months 12 days |  |
Amount paid in connection with liability awards |  | $ 833,000 | 417,000 |
Vested (in shares) |  |  |  | 0
Forfeited (in shares) |  | 0 |  | 0
Restricted stock units vested (in shares) |  |  |  | 0
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Target cash incentive |  | $ 2,500,000 | $ 2,500,000 |
Multiplying factor |  | 250.00% | 250.00% |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Multiplying factor |  |  |  | 125.00%
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 2 years |  |
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 1 year |  |
Compensation cost not yet recognized |  | $ 700,000 |  |
Compensation cost not yet recognized, period of recognition |  | 4 months 24 days |  |
Vested (in shares) |  | 26,000 | 34,000 | 0
Weighted average grant-date fair value (in dollars per share) |  | $ 59.02 | $ 61.77 | $ 42.98
Restricted stock units granted (in shares) |  | 31,000 | 26,000 | 34,000
Restricted stock units vested (in shares) |  | 26,000 | 34,000 | 0
2018 Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant (in shares) |  | 2,817,861 |  |
2018 Incentive Plan | Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Expiration period |  | 7 years |  |
2018 Incentive Plan | Stock Options | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 3 years |  |
2018 Incentive Plan | Stock Options | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 5 years |  |
ESPP |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares available for grant (in shares) |  | 102,739 |  |
Purchase price for ESPP, percent of market price |  | 95.00% |  |

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