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Stockholders' Equity Share Activity by Class (Details) - shares | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | (100,043) | (1,060) | (1,074) |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | (187,287) | (198,774) | (177,960) |
Outstanding | 80,014,764 | 79,606,056 | 79,035,069 | 78,572,110
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number | 361,215 | 367,392 | 327,713 |
Class A Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | (100,043) | (1,060) | (1,074) |
Shares repurchased and retired during the period (shares) | (19,750) |  |  |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | (187,287) | (198,774) | (177,960) |
Outstanding | 68,554,078 | 67,982,025 | 66,699,872 | 63,131,007
Class B Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  | (638,614) |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | 0 | 0 | 0 |
Outstanding | 2,435,739 | 2,583,884 | 3,206,580 | 4,457,958
Class C Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  | (325,000) |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | 0 | 0 | 0 |
Outstanding | 9,024,947 | 9,040,147 | 9,128,617 | 10,983,145
Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | (19,750) | (18,671) | (100,404) |
Common Stock | Class A Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) |  | (18,671) | (100,404) |
Common Stock | Class B Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | 0 | 0 | 0 |
Common Stock | Class C Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | 0 | 0 | 0 |
Common Stock | Class A Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) |  |  | (2,142,292) |
Common Stock | Class B Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | (148,145) | (622,696) | (612,764) |
Common Stock | Class C Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | (15,200) | (88,470) | (1,529,528) |
Unvested restricted share-based awards |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | (515,702) | (787,372) | (740,249) |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 5,351,492 | 5,396,343 | 5,245,394 | 5,293,642
Granted in Period, Number of Shares | 517,386 | 788,703 | 741,555 |
Unvested restricted share-based awards | Class A Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | (515,702) | (787,372) | (740,249) |
Unvested restricted share-based awards | Class B Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | 0 |  | 0 |
Unvested restricted share-based awards | Class C Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares repurchased and retired during the period (shares) | 0 | 0 | 0 |
Performance Shares |  |  |  |
Class of Stock [Line Items] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 216,170 | 231,170 | 135,230 | 60,000
Granted in Period, Number of Shares | 0 | 95,940 | 75,230 | 60,000
Performance Shares | Pro Forma |  |  |  |
Class of Stock [Line Items] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 264,143 |  |  |

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