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Stock-based Compensation - Schedule of Share-based Compensation, Performance Based Restricted Stock Unit Activity (Details) - Performance-based restricted stock units
shares in Thousands
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Number of Shares  
Outstanding, beginning of period (in shares) | shares 119
Granted (in shares) | shares 38
Vested (in shares) | shares (43)
Forfeited (in shares) | shares (3)
Outstanding, end of period (in shares) | shares 111
Weighted- Average Grant Date Fair Value  
Outstanding, beginning of period (in dollars per share) | $ / shares $ 70.77
Granted (in dollars per share) | $ / shares 95.44
Vested (in dollars per share) | $ / shares 69.84
Forfeited (in dollars per share) | $ / shares 79.01
Outstanding, end of period (in dollars per share) | $ / shares $ 79.31