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Employee Stock Purchase Plan, Stock Options and Warrants - Changes in PSUs and RSUs (Details) - $ / shares shares in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-Settled Performance-Based Restricted Stock Units |  |  |
Stock Units |  |  |
Beginning balance (in shares) | 179 |  |
Granted (in shares) | 229 |  |
rTSR adjustment (in shares) | 8 |  |
Vested (in shares) | (61) | (44) | (26)
Balance at December 31 (in shares) | 355 | 179 |
Weighted Average Grant Date Fair Value |  |  |
Beginning balance (in dollars per share) | $ 63.90 |  |
Granted (in dollars per share) | 72.26 | $ 64.54 | $ 61.39
rTSR adjustment (in dollars per share) | 70.58 |  |
Vested (in dollars per share) | 70.58 |  |
Balance at December 31 (in dollars per share) | $ 71.15 | $ 63.90 |
Stock-Settled Performance-Based Restricted Stock Units | rTSR |  |  |
Stock Units |  |  |
Multiplying factor | 125.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Minimum |  |  |
Stock Units |  |  |
Multiplying factor | 75.00% |  |
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Maximum |  |  |
Stock Units |  |  |
Multiplying factor | 125.00% |  |
Restricted Stock Units |  |  |
Stock Units |  |  |
Beginning balance (in shares) | 31 |  |
Granted (in shares) | 20 | 31 | 26
Vested (in shares) | (31) | (26) | (34)
Balance at December 31 (in shares) | 20 | 31 |
Weighted Average Grant Date Fair Value |  |  |
Beginning balance (in dollars per share) | $ 59.02 |  |
Granted (in dollars per share) | 83.99 | $ 59.02 | $ 61.77
Vested (in dollars per share) | 59.02 |  |
Balance at December 31 (in dollars per share) | $ 83.99 | $ 59.02 |

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- Definition The increase (decrease) in the number of equity-based payment instruments, excluding stock (or unit) options, from the application of the rTSR multiplier as originally specified in the agreements during the reporting period. + References No definition available. + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for adjustments made based on the impact of the application of the rTSR multiplier as originally specified in the agreements. + References No definition available. + Details
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- Definition Share-based compensation arrangement by share-based payment award, equity instruments other than options, conversion multiplying factor. + References No definition available. + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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