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Performance-Based Awards Issued and Outstanding (Details) - Amended and Restated 2010 Incentive Plan - Performance Stock Units
shares in Thousands
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Performance-based Awards  
Unvested, Beginning Balance 216
Granted 57
Performance adjustments 20
Vested (70)
Forfeited (7)
Unvested, Ending Balance 216
Expected to vest at end of period 241
Weighted Average Grant Date Fair Value  
Unvested, Beginning Balance | $ / shares $ 144.16
Granted | $ / shares 179.15
Performance adjustment | $ / shares 122.24
Vested | $ / shares 116.56
Forfeited | $ / shares 167.06
Unvested, Ending Balance | $ / shares $ 160.81