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Retirement Plans and Employee Stock Purchase Plans - Employee Stock Purchase Plans (Details) - USD ($) $ / shares in Units, shares in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Stock Purchase Plans |  |  |
Service period required to be completed for an employee to be eligible to participate in plan, minimum | 90 days |  |
Ownership interest in Company common stock to disqualify employee from participation in plan, maximum (as a percent) | 5.00% |  |
Maximum percentage of base salary which can be contributed by the employees | 15.00% |  |
Maximum amount of base salary which can be contributed annually by the employees | $ 25,000 |  |
Discount rate at which common stock can be purchased by the plan participant (as a percent) | 5.00% |  |
Summary of purchases made under the 2009 Employee Stock Purchase Plans |  |  |
Number of shares purchased | 117,350 | 105,606 | 63,962
Average price of shares purchased (in dollars per share) | $ 23.47 | $ 26.66 | $ 39.70
2009 Stock Purchase Plan |  |  |
Summary of purchases made under the 2009 Employee Stock Purchase Plans |  |  |
Stock based compensation expense | $ 0 | $ 0 | $ 0

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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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