Share-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) factor $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of options outstanding (in shares)	435,135	435,135	440,574	475,601
Options exercisable (in shares)	271,959	217,567	168,614
Options exercisable (in dollars per share) | $ / shares	$ 68.97	$ 68.97	$ 67.62
Exercise of stock options (in shares)	0	5,439	70,776
Total intrinsic values of options exercised in period | $		$ 400	$ 5,800
Total fair value of options vested | $	$ 1,000	1,100	1,000
Proceeds from exercise of stock options | $	0	148	2,939
Tax benefit realized for the tax deductions from option exercises | $		300	1,900
Issuance of common stock under employee stock purchase plan | $	$ 8,727	$ 9,431	$ 9,231
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number	777,197	464,354	360,743	209,784
Share-based payment arrangement, price target, increase (decrease) | $ / shares	$ 21.41
Unrecognized compensation expense, period for recognition	2 years 4 months 24 days
Restricted stock and restricted units granted (in shares)	473,155	254,215	319,345
Share-based Payment Arrangement, Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Incremental award ratio | factor	1.09
Expiration period	10 years
Unrecognized compensation expense | $	$ 1,900
Unrecognized compensation expense, period for recognition	2 years
Expected term (in years)	6 months	6 months	6 months
Restricted Stock and Restricted Stock Unit
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock and restricted units granted (in shares)	305,549	154,022	246,251
Restricted Stock and Restricted Stock Unit | Board of Directors
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	1 year
Restricted Stock and Restricted Stock Unit | Chief Executive Officer
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	8 years
Market-based Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation expense, period for recognition	1 year 10 months 24 days
Restricted stock and restricted units granted (in shares)	167,606	100,193	73,094
Weighted-average grant-date fair values of restricted stock awards granted (in dollars per share) | $ / shares	$ 70.06	$ 87.11	$ 94.40
Restricted Stock and Restricted Stock Unit, Market-based Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Tax benefit realized for the tax deductions from option exercises | $	$ 1,900	$ 2,800	$ 9,500
Unrecognized compensation expense | $	43,400
Total fair value of restricted stock and restricted stock units vested | $	$ 11,300	$ 12,400	$ 68,100
Minimum | Share-based Payment Arrangement, Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	5 years
Minimum | Restricted Stock and Restricted Stock Unit | Senior Staff
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	4 years
Minimum | Market-based Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average grant-date fair values of restricted stock awards granted (in dollars per share) | $ / shares	$ 83.61
Maximum | Share-based Payment Arrangement, Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	8 years
Maximum | Restricted Stock and Restricted Stock Unit | Senior Staff
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting periods	5 years
Maximum | Market-based Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average grant-date fair values of restricted stock awards granted (in dollars per share) | $ / shares	$ 103.76
2015 Stock Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum issuance of common stock (in shares)	4,200,000
Additional shares available for grant (in shares)	1,072,913
2015 Stock Option Plan | Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number	777,197
2015 Stock Option Plan | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market value of common stock on the date of grant for incentive stock options	100.00%
Employee Stock Purchase Plan | Common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum issuance of common stock (in shares)	2,000,000
Market value of common stock on the date of grant for incentive stock options	85.00%
Additional shares available for grant (in shares)	994,221
Maximum employee subscription rate	15.00%
Expected term (in years)	6 months
Issuance of shares under Employee Stock Purchase Plan (in shares)	74,390	139,992	109,248
Estimated forfeiture rates	12.54%	11.83%	11.15%
Employee Stock Purchase Plan | Minimum | Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase price under the Purchase Plan (in usd per share) | $ / shares	$ 53.80
Employee Stock Purchase Plan | Maximum | Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase price under the Purchase Plan (in usd per share) | $ / shares	$ 54.24