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Stock-Based Compensation - Stock Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock option activity      
Total options outstanding, end of period (in shares) 4,631,083    
Weighted-Average Exercise Price      
Total options outstanding, beginning of the period (in dollars per share) $ 84.20    
Total options outstanding at the end of the period (in dollars per share)   $ 84.20  
Long-Term Performance Based Plans      
Stock option activity      
Total options outstanding, end of period (in shares) 248,758    
Weighted-Average Exercise Price      
Total options outstanding at the end of the period (in dollars per share) $ 60.04    
Employee Stock Option [Member]      
Stock option activity      
Total options outstanding, beginning of period (in shares) 10,494,032    
Granted (in shares) 790,526    
Forfeited and cancelled (in shares) (1,397,228)    
Total options outstanding, end of period (in shares) 9,887,330 10,494,032  
Exercisable at the end of the period (in shares) 2,893,380    
Weighted-Average Exercise Price      
Total options outstanding, beginning of the period (in dollars per share) $ 74.66    
Granted (in dollars per share) 28.24    
Forfeited and cancelled (in dollars per share) 78.85    
Total options outstanding at the end of the period (in dollars per share) 70.36 $ 74.66  
Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 65.85    
Share-based compensation additional disclosures      
Tax benefit from stock awards exercised $ 1,384 $ 573 $ 4,153
Aggregate intrinsic value and weighted- average remaining contractual life      
Granted (in shares) 790,526    
Aggregate intrinsic value of stock options exercisable   $ 98 $ 16,029
Weighted- average remaining contractual life outstanding 7 years 2 months 15 days    
Weighted- average remaining contractual life exercisable 6 years 10 months 6 days    
Employee Stock Option [Member] | Long-Term Performance Based Plans      
Stock option activity      
Total options outstanding, end of period (in shares) 4,631,083    
Weighted-Average Exercise Price      
Total options outstanding at the end of the period (in dollars per share) $ 84.20