Equity Awards - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Schedule of stock-based compensation expense
Stock-based compensation expense included in operating expense	$ 19,772	$ 21,792	$ 18,149
Tax benefit	5,156	5,488	4,809
Stock-based compensation expense, net of tax	14,616	16,304	13,340
Instructional and support costs
Schedule of stock-based compensation expense
Stock-based compensation expense included in operating expense	5,804	7,026	5,317
General and administration
Schedule of stock-based compensation expense
Stock-based compensation expense included in operating expense	13,461	14,766	13,535
Restructuring costs
Schedule of stock-based compensation expense
Stock-based compensation expense included in operating expense	$ 507	$ 0	$ (703)