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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