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Revenue - Disaggregation of Franchise Revenue by Major Type (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Franchise Revenues      
Disaggregation of Revenue [Line Items]      
Total franchise revenues $ 706,365 $ 662,438 $ 631,936
Royalties      
Disaggregation of Revenue [Line Items]      
Total franchise revenues 325,643 303,724 292,372
Advertising fees      
Disaggregation of Revenue [Line Items]      
Total franchise revenues 300,796 289,328 274,790
Proprietary product sales and other      
Disaggregation of Revenue [Line Items]      
Total franchise revenues 71,058 60,749 51,250
Franchise and development fees      
Disaggregation of Revenue [Line Items]      
Total franchise revenues $ 8,868 $ 8,637 $ 13,524