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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Options      
Outstanding at beginning of the year (in shares) 800 774 745
Granted (in shares) 139 80 109
Exercised (in shares) (80) (54) (80)
Forfeited/canceled/expired (in shares) (77) 0 0
Outstanding at end of the year (in shares) 782 800 774
Vested and expected to vest at the end of the year (in shares) 782 800 774
Exercisable at the end of the year (in shares) 600 656 582
Weighted-Average Exercise Price      
Outstanding at beginning of the year (in dollars per share) $ 45.55 $ 43.01 $ 41.73
Granted (in dollars per share) 33.42 59.43 46.17
Exercised (in dollars per share) 19.25 30.04 35.28
Forfeited/canceled/expired (in dollars per share) 64.81 0 0
Outstanding at end of the year (in dollars per share) 44.16 45.55 43.01
Vested and expected to vest at the end of the year (in dollars per share) 44.16 45.55 43.01
Exercisable at the end of the year (in dollars per share) $ 45.77 $ 44.08 $ 43.90
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value      
Outstanding at end of the year 3 years 5 months 12 days 3 years 1 month 24 days 3 years 8 months 15 days
Vested and expected to vest at the end of the year 3 years 5 months 12 days 3 years 1 month 24 days 3 years 8 months 15 days
Exercisable at the end of the year 2 years 7 months 9 days 2 years 6 months 29 days 2 years 11 months 23 days
Exercised $ 292 $ 931 $ 1,334
Outstanding at end of the year 0 3,780 9,228
Vested and expected to vest at the end of the year 0 3,780 9,228
Exercisable at the end of the year $ 0 $ 3,608 $ 6,887