Stock-Based Compensation - Significant Option Groups Outstanding and Related Weighted Average Exercise Price and Life Information (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Options Outstanding
Number outstanding (in shares)	901	782	800	774
Weighted-average remaining contractual term (in years)	3 years 8 months 1 day	3 years 5 months 12 days	3 years 1 month 24 days
Weighted average exercise price (in dollars per share)	$ 38.78	$ 44.16	$ 45.55	$ 43.01
Options Exercisable
Number exercisable (in shares)	620	600	656
Weighted-average exercise price (in dollars per share)	$ 44.06	$ 45.77	$ 44.08
Exercise price range 1
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	24.77
Range of exercise prices, upper range limit (in dollars per share)	$ 34.56
Options Outstanding
Number outstanding (in shares)	503
Weighted-average remaining contractual term (in years)	4 years 9 months 14 days
Weighted average exercise price (in dollars per share)	$ 27.77
Options Exercisable
Number exercisable (in shares)	227
Weighted-average exercise price (in dollars per share)	$ 29.35
Exercise price range 2
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	44.95
Range of exercise prices, upper range limit (in dollars per share)	$ 46.17
Options Outstanding
Number outstanding (in shares)	207
Weighted-average remaining contractual term (in years)	2 years 7 months 6 days
Weighted average exercise price (in dollars per share)	$ 45.59
Options Exercisable
Number exercisable (in shares)	207
Weighted-average exercise price (in dollars per share)	$ 45.59
Exercise price range 3
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range limit (in dollars per share)	52.85
Range of exercise prices, upper range limit (in dollars per share)	$ 62.70
Options Outstanding
Number outstanding (in shares)	191
Weighted-average remaining contractual term (in years)	2 years 4 months 17 days
Weighted average exercise price (in dollars per share)	$ 60.31
Options Exercisable
Number exercisable (in shares)	186
Weighted-average exercise price (in dollars per share)	$ 60.34