Equity Awards - Schedule of Stock Option Activity and Other Stock Option Information (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of shares
Beginning balance (in shares)	23,299	23,676	25,574
Grants (in shares)	0	0	0
Exercises (in shares)	(4,138)	(377)	(1,632)
Forfeitures/expirations (in shares)	0	0	(266)
Ending balance (in shares)	19,161	23,299	23,676	25,574
Exercisable (in shares)	19,161
Weighted- average exercise price
Beginning balance (in dollars share)	$ 65.76	$ 65.30	$ 65.80
Grants (in dollars share)	0	0	0
Exercises (in dollars share)	53.95	36.87	69.44
Forfeitures/expirations (in dollars share)	0	0	87.66
Ending balance (in dollars share)	68.32	$ 65.76	$ 65.30	$ 65.80
Weighted-average exercise price (in dollars per share)	$ 68.32
Weighted-average remaining contractual life (years)	2 years 2 months 12 days	3 years	4 years	5 years
Exercisable, weighted-average remaining contractual life (years)	2 years 2 months 12 days
Aggregate intrinsic value	$ 461	$ 352	$ 93	$ 755
Exercisable, aggregate intrinsic value	$ 461