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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Payment Arrangement [Abstract] |  |  |
Total intrinsic value of stock options exercised | $ 23,300 | $ 27,110 | $ 36,086
Cash received from stock option exercises | 14,503 | 18,952 | 20,194
Excess tax benefit from the exercise of stock options | $ 3,001 | $ 3,423 | $ 5,571
Number of Shares |  |  |
Beginning balance (in shares) | 3,077 |  |
Granted (in shares) | 444 |  |
Exercised (in shares) | (606) |  |
Forfeited/expired (in shares) | (47) |  |
Outstanding at December 31 (in shares) | 2,868 | 3,077 |
Exercisable (in shares) | 1,714 |  |
Ending vested and expected to vest (in shares) | 2,868 |  |
Weighted Average Exercise Price |  |  |
Beginning balance (in dollars per share) | $ 49.62 |  |
Granted (in dollars per share) | 72.36 |  |
Exercised (in dollars per share) | 33.48 |  |
Forfeited/expired (in dollars per share) | 60.08 |  |
Outstanding at December 31 (in dollars per share) | 56.39 | $ 49.62 |
Exercisable (in dollars per share) | 50.73 |  |
Ending vested and expected to vest (in dollars per share) | $ 56.39 |  |
Outstanding, remaining contractual term | 3 years 5 months 8 days |  |
Exercisable, remaining contractual term | 2 years 4 months 24 days |  |
Ending vested and expected to vest, remaining contractual term | 3 years 5 months 8 days |  |
Outstanding, intrinsic value | $ 56,333 |  |
Exercisable, intrinsic value | 43,234 |  |
Ending vested and expected to vest, intrinsic value | $ 56,333 |  |

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